Motion expression by elemental separation of haptic information

Takahiro Nozaki, Takahiro Mizoguchi, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)


This study aims to reveal the concealed features of human motions. For this purpose, a method of elemental separation (ES method) of human motions is proposed. First, human motions are extracted as haptic information through a bilateral control system. Then, by using the proposed method, the haptic information is divided into basic elements: 1) transformation matrices; 2) hybrid angles; 3) pure position commands; and 4) pure force commands. The proposed method is validated through simulations as well as experiments with robotic and human operators. The obtained results clearly reveal the features of human motions, although it is difficult to recognize the differences from the original responses. Nonetheless, this study provides a motion expression that should contribute toward a greater understanding of human skill.

Original languageEnglish
Article number6749002
Pages (from-to)6192-6201
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Issue number11
Publication statusPublished - 2014 Nov


  • Bilateral control
  • force control
  • haptics
  • motion abstraction
  • motion control
  • position control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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