Recognition of grasping motion based on modal space haptic information using DP pattern-matching algorithm

Takahiro Nozaki, Takahiro Mizoguchi, Yuki Saito, Daisuke Yashiro, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)


Human motion recognition systems play an important role in improving the ability of robots to support human life. This paper proposes a novel motion recognition method based on haptic data (i.e., position and force information). First, haptic data are obtained using a bilateral control system. Second, the haptic data are divided into action components, using modal transformation. Finally, both the position and the force information in each action component are compared with recorded data. A dynamic programming pattern-matching algorithm is used to recognize the desired motion, and the validity of the proposed method is verified experimentally. In the experiments, the proposed method is applied to a grasping motion. The proposed method can trigger scaled bilateral control and assist the operator in real time.

Original languageEnglish
Article number6376180
Pages (from-to)2043-2051
Number of pages9
JournalIEEE Transactions on Industrial Informatics
Issue number4
Publication statusPublished - 2013


  • Bilateral control
  • Dynamic programming
  • Force sensation
  • Haptics
  • Master-slave robot system
  • Motion recognition

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering


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