Reproduction of human motion using motion-copying system based on coordinate modification

Recently, the development of "haptic recording" is demanded, and a motion-copying system is one of good methods for realization haptic recording. The haptic recording is the technology for saving and reproducing human motion based on haptic information which is constructed by position and force information. One of the problems of the motion-copying system is that the saved human motion is reproduced in the only case when the environmental location of acquisition step and reproduction step is completely same. In this paper, the method which considers the case when the environmental location is different is proposed. If environmental location is change, there is the error between the coordinate of the position control and it of the force control. In the proposed method, the coordinate of position controller is modified by the force error between the acquisition and reproduction steps. The availability of the proposed method is shown by experiments. By the proposed method, the motion-copying system is more useful for preservation and reproduction of human motions.