Point-to-point motion control based on reproduction of recorded human motions with time scaling

Naoki Motoi, Tomoyuki Shimono, Ryogo Kubo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


In order to assist human beings, the reproduction methods of the recorded human motions have been researched. On these systems, the human motions are recorded as the haptic data (i.e., position, velocity, and force data) by using bilateral control. However, these conventional methods show poor adaptability to the difference in the environmental location during the reproduced phase. In order to compensate this spatial difference, the spatial data processing of the recorded human motions was utilized. On the other hand, the reproduction method of the recorded human motions with time scaling is proposed to compensate this spatial problem in this paper. In other words, the proposed method applies time scaling to compensate the spatial difference. For the realization of the proposed reproduction method with time scaling, the recorded velocity and force data are utilized. By using the proposed method, the physical meaning is clear compared with conventional methods, since power on the certain moment of the reordered task is reproduced. This paper focuses on the point-to-point motion, which includes the force motion and the position motion, as one of typical tasks in the industry field. The validity of the proposed method was confirmed by the experimental results.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479940325
Publication statusPublished - 2014 Feb 24

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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