TY - GEN
T1 - Task preservation of multi-degree-of-freedom motion using interaction mode control
AU - Katsura, Seiichiro
AU - Ohishi, Kiyoshi
PY - 2007
Y1 - 2007
N2 - Recently, skill preservation of an expert and skill training have been a serious problem of the medical or production fields. This paper proposes a task preservation and reproduction of multi-degree-of-freedom motion using interaction mode control based on bilateral motion control. The proposed task preservation system is composed of two modes; acquisition mode and reproduction mode. In the acquisition mode, the control system is based on bilateral control. Since a touching motion is subject to the "law of action and reaction", it is possible to decompose force information into action force and reaction force by using the bilateral control. Furthermore, human motion is acquired in decoupled modal space by using the mode quarry matrix. The decoupled modes correspond to "moving", "yawing", "grasping" tasks, and so on. Thus the multi-degree-of-freedom motion by a human is easily obtained and analyzed in the modal space. In the reproduction mode, the acquired human motion is reproduced in the modal space by using the interaction mode control. The proposed task preservation system is applied for grasping motion by three fingers. The experimental results show viability of the proposed method.
AB - Recently, skill preservation of an expert and skill training have been a serious problem of the medical or production fields. This paper proposes a task preservation and reproduction of multi-degree-of-freedom motion using interaction mode control based on bilateral motion control. The proposed task preservation system is composed of two modes; acquisition mode and reproduction mode. In the acquisition mode, the control system is based on bilateral control. Since a touching motion is subject to the "law of action and reaction", it is possible to decompose force information into action force and reaction force by using the bilateral control. Furthermore, human motion is acquired in decoupled modal space by using the mode quarry matrix. The decoupled modes correspond to "moving", "yawing", "grasping" tasks, and so on. Thus the multi-degree-of-freedom motion by a human is easily obtained and analyzed in the modal space. In the reproduction mode, the acquired human motion is reproduced in the modal space by using the interaction mode control. The proposed task preservation system is applied for grasping motion by three fingers. The experimental results show viability of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=42549090775&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=42549090775&partnerID=8YFLogxK
U2 - 10.1109/EPEPEMC.2006.283211
DO - 10.1109/EPEPEMC.2006.283211
M3 - Conference contribution
AN - SCOPUS:42549090775
SN - 1424401216
SN - 9781424401215
T3 - EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings
SP - 506
EP - 512
BT - EPE-PEMC 2006
T2 - EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference
Y2 - 30 August 2006 through 1 September 2006
ER -