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

Yuki Nagatsu, Seiichiro Katsura

Research output: Contribution to conferencePaperpeer-review

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
Pages46-51
Number of pages6
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
Country/TerritorySpain
CitySeville
Period15/3/1715/3/19

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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