Abstraction of action components unconstrained by alignment of haptic sensing points

Hiroaki Kuwahara, Tomoyuki Shimono, Hiroyuki Tanaka, Daisuke Yashiro, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

25 Citations (Scopus)


This paper proposes an abstraction method of independent components of human action from haptic information. First, the haptic information is obtained using a haptic device (haptic bilateral system). Second, the action components can be abstracted from the haptic information by using the proposed method. The proposed method achieves abstraction of the action components unconstrained by the alignment of sensing points with simple calculations. The proposed method is applied for grasping and manipulation motions by two- and three-finger robots. The validity of the proposed method is shown by the experimental results.

Original languageEnglish
Article number5729340
Pages (from-to)3196-3204
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Issue number8
Publication statusPublished - 2011 Aug


  • Action components
  • bilateral control
  • haptic bilateral system
  • haptic motion
  • haptics
  • skill transfer

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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