Motion-Copying System with In-Tool Sensing

Robots are increasingly used for substituting various tasks that were previously performed by humans. However, certain tasks can only be accomplished by humans. To substitute such tasks, robots should be able to reproduce the motion of humans. There are two steps to achieving this goal. First, human motion needs to be measured properly using sensors. Second, the robots need to be properly controlled to reproduce the motion. In particular, the present study focuses on the second step and proposes a method for controlling a robot to reproduce a certain motion. There are several problems when reproducing a motion. One major problem is the phase delay, which is inevitable when controlling the position of a robot. In previous studies, master-replica systems were utilized to cope with the phase delay. However, using master-replica systems makes it difficult for the operator to perform tasks. Therefore, this paper proposes a control method for robots to precisely reproduce human motion without using the master-replica system.