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

Yuki Nagatsu; Seiichiro Katsura

doi:10.1109/ICIT.2015.7125074

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

Yuki Nagatsu, Seiichiro Katsura

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

1 Citation (Scopus)

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 language	English
Pages	46-51
Number of pages	6
DOIs	https://doi.org/10.1109/ICIT.2015.7125074
Publication status	Published - 2015 Jun 16
Event	2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain Duration: 2015 Mar 17 → 2015 Mar 19

Other

Other	2015 IEEE International Conference on Industrial Technology, ICIT 2015
Country/Territory	Spain
City	Seville
Period	15/3/17 → 15/3/19

ASJC Scopus subject areas

Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/ICIT.2015.7125074

Cite this

@conference{9f6329519186450092d894b7c813b2fb,

title = "A motion reproduction method for training system based on spatiotemporal admittance control",

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.",

author = "Yuki Nagatsu and Seiichiro Katsura",

year = "2015",

month = jun,

day = "16",

doi = "10.1109/ICIT.2015.7125074",

language = "English",

pages = "46--51",

note = "2015 IEEE International Conference on Industrial Technology, ICIT 2015 ; Conference date: 17-03-2015 Through 19-03-2015",

}

TY - CONF

T1 - A motion reproduction method for training system based on spatiotemporal admittance control

AU - Nagatsu, Yuki

AU - Katsura, Seiichiro

PY - 2015/6/16

Y1 - 2015/6/16

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84937714319&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84937714319&partnerID=8YFLogxK

U2 - 10.1109/ICIT.2015.7125074

DO - 10.1109/ICIT.2015.7125074

M3 - Paper

AN - SCOPUS:84937714319

SP - 46

EP - 51

T2 - 2015 IEEE International Conference on Industrial Technology, ICIT 2015

Y2 - 17 March 2015 through 19 March 2015

ER -

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

Abstract

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this