This research proposes a motion training system based on motion-copying system with the space and time domain admittance control. In order to apply a motion-copying system to the motion training system, a structure of dual motion reproduction system is introduced in which a motion reproduction system is constructed not only at a slave system but also a master system. Not only the slave system but also the master system reproduces motions of a trainer and a trainee trains by interacting with the reproduction system. If the trainee performs the inappropriate motions, the motions are transmitted by a spatial admittance control against the incorrectly applied force. In addition, by expanding the admittance control to a time domain, the trainee can train independently from the time frame of the saved motions. Experimental results show the validity of the proposed method.
|出版ステータス||Published - 2015 6月 16|
|イベント||2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain|
継続期間: 2015 3月 17 → 2015 3月 19
|Other||2015 IEEE International Conference on Industrial Technology, ICIT 2015|
|Period||15/3/17 → 15/3/19|
ASJC Scopus subject areas
- コンピュータ サイエンスの応用