A method for haptic motion abstraction and display based on action force directionality

Robots working in unknown environment or human environment have been researched for years in the field of motion control. For the next generation robot, human and robot interaction technologies are needed. Especially, abstractions of human motion and motion display technologies are important. This paper proposes a method for haptic motion abstraction based on action force directionality. Action force is measured by using the master-slave robot hand system which is bilateral controlled. Human motion is abstracted as action modes and action ratios, which are calculated from action force directionality. Action modes are expressing action force directionality, and action ratios are expressing amplitude of each action modes. Action modes are valid for motion preservation, identification of human and motion display system. Thus, as one of the application of action modes, a method for motion display is also proposed. Motion display control system is designed based on action modes and action ratios. This control system presents desired action force directionality as velocity response depending on human action force. The validity of the proposed method is shown by the experimental results.