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

Shoyo Hyodo, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review


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

Original languageEnglish
Pages (from-to)62-70
Number of pages9
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Issue number2
Publication statusPublished - 2011 Jul 30


  • action force
  • bilateral control
  • directionality
  • motion abstraction
  • motion display

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering


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