A motion reproduction method for training system based on spatiotemporal admittance control

Yuki Nagatsu, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages46-51
Number of pages6
Volume2015-June
EditionJune
DOIs
Publication statusPublished - 2015 Jun 16
Event2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain
Duration: 2015 Mar 172015 Mar 19

Other

Other2015 IEEE International Conference on Industrial Technology, ICIT 2015
CountrySpain
CitySeville
Period15/3/1715/3/19

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

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  • Cite this

    Nagatsu, Y., & Katsura, S. (2015). A motion reproduction method for training system based on spatiotemporal admittance control. In Proceedings of the IEEE International Conference on Industrial Technology (June ed., Vol. 2015-June, pp. 46-51). [7125074] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2015.7125074