A reproduction method of human motion based on integrated information for haptic skill education

Abstract

This paper proposes a reproduction system of human motion for haptic skill education. In this system, a robot guides a trainee to follow an expert's motion and show the expert's action force to the trainee. In the proposed method, haptic information of the expert is recorded at first. To record the haptic information, master-slave robots on which bilateral control is implemented are utilized. The proposed system is composed of a timelike reproduction system and a spacelike reproduction system. The timelike reproduction system is designed for the trainee to learn when and how to apply the action force to the robot. The spacelike reproduction system is designed for the trainee to learn how to operate the robot in the correspondent trajectory as the expert operates the robot. The validity of the proposed method is confirmed by experiments.