Acquisition and analysis of finger motions by skill preservation system

Seiichiro Katsura, Kiyoshi Ohishi

Research output: Contribution to journalArticlepeer-review

19 Citations (Scopus)

Abstract

Recently, skill acquisition of experts has been a serious problem of the medical or production fields. This paper proposes a skill preservation system for the motion acquisition of human fingers. The proposed skill preservation system is composed of a master-slave system, and the control system is based on bilateral motion control. Since a touching motion is subject to the "law of action and reaction," it is possible to decompose force information into action force and reaction force by using a bilateral control. Furthermore, a human motion is acquired in decoupled modal space by using the quarry matrices. The decoupled modes correspond to "translating," "rotating," "grasping" task motions, and so on. Thus, the skilled motion by a human is easily obtained in the modal space. The quarry matrices are also applied for temporal decomposition. As a result, modal and temporal analyses are realized by using the quarry matrices. The proposed skill preservation system is applied for grasping motion by three fingers. The experimental results show viability of the proposed method.

Original languageEnglish
Article number4384349
Pages (from-to)3353-3361
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Volume54
Issue number6
DOIs
Publication statusPublished - 2007 Dec 1
Externally publishedYes

Keywords

  • Acceleration control
  • Bilateral teleoperation
  • Disturbance observer
  • Force control
  • Motion control
  • Quarry matrix
  • Real-world haptics
  • Skill preservation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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