Motion expression by elemental separation of haptic information

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.