Mixed reproduction of physical human operation and data-based motions by frequency filtering

Bilateral control can obtain human motions based on the velocity and force information. Based on the obtained data of human motions, it is possible to reproduce them by position-force hybrid control. The possible applications of the position-force hybrid control can be in the training of experts, rehabilitation, and so on. In the position-force hybrid control, a more adaptive and flexible property is desired since the reproduced motion is strictly affected by the environmental situation in the saved phase. Thus, conventional position-force hybrid control is not sufficient for the training purpose because the reproduced motion is inflexible and its performance is limited. This paper shows a mixed reproduction of physical human operation and data-based motions. In the method, the indexes for human interaction under the automatic reproduction of a saved motion are introduced. The human operationality and the data-based motion reproducibility are stabilized based on frequency filtering. In addition, some comparisons between the conventional method and the proposed method are shown by performance and stability analyses. From these analyses, the effectiveness of the proposed method is confirmed.