Modal-power-based haptic motion recognition

Yusuke Kasahara, Tomoyuki Shimono, Hiroaki Kuwahara, Masataka Sato, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


Motion recognition based on sensory information is important for providing assistance to human using robots. Several studies have been carried out on motion recognition based on image information. However, in the motion of humans contact with an object can not be evaluated precisely by image-based recognition. This is because the considering force information is very important for describing contact motion. In this paper, a modal-power-based haptic motion recognition is proposed; Modal power is considered to reveal information on both position and force. Modal power is considered to be one of the defining features of human motion. A motion recognition algorithm based on linear discriminant analysis is proposed to distinguish between similar motions. Haptic information is extracted using a bilateral master-slave system. Then, the observed motion is decomposed in terms of primitive functions in a modal space. The experimental results show the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)477-484+11
Journalieej transactions on industry applications
Issue number4
Publication statusPublished - 2010
Externally publishedYes


  • Bilateral control
  • Haptics
  • Linear discriminant analysis method
  • Modal decomposition
  • Motion recognition

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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