Motion expression by elemental separation of haptic information

Takahiro Nozaki, Takahiro Mizoguchi, Kouhei Ohnishi

Research output: Contribution to journalArticle

19 Citations (Scopus)

Abstract

This study aims to reveal the concealed features of human motions. For this purpose, a method of elemental separation (ES method) of human motions is proposed. First, human motions are extracted as haptic information through a bilateral control system. Then, by using the proposed method, the haptic information is divided into basic elements: 1) transformation matrices; 2) hybrid angles; 3) pure position commands; and 4) pure force commands. The proposed method is validated through simulations as well as experiments with robotic and human operators. The obtained results clearly reveal the features of human motions, although it is difficult to recognize the differences from the original responses. Nonetheless, this study provides a motion expression that should contribute toward a greater understanding of human skill.

Original languageEnglish
Article number6749002
Pages (from-to)6191-6201
Number of pages11
JournalIEEE Transactions on Industrial Electronics
Volume61
Issue number11
DOIs
Publication statusPublished - 2014

Fingerprint

Robotics
Control systems
Experiments

Keywords

  • Bilateral control
  • force control
  • haptics
  • motion abstraction
  • motion control
  • position control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Motion expression by elemental separation of haptic information. / Nozaki, Takahiro; Mizoguchi, Takahiro; Ohnishi, Kouhei.

In: IEEE Transactions on Industrial Electronics, Vol. 61, No. 11, 6749002, 2014, p. 6191-6201.

Research output: Contribution to journalArticle

Nozaki, Takahiro ; Mizoguchi, Takahiro ; Ohnishi, Kouhei. / Motion expression by elemental separation of haptic information. In: IEEE Transactions on Industrial Electronics. 2014 ; Vol. 61, No. 11. pp. 6191-6201.
@article{f223ec3c17484772859a0444e162f7e4,
title = "Motion expression by elemental separation of haptic information",
abstract = "This study aims to reveal the concealed features of human motions. For this purpose, a method of elemental separation (ES method) of human motions is proposed. First, human motions are extracted as haptic information through a bilateral control system. Then, by using the proposed method, the haptic information is divided into basic elements: 1) transformation matrices; 2) hybrid angles; 3) pure position commands; and 4) pure force commands. The proposed method is validated through simulations as well as experiments with robotic and human operators. The obtained results clearly reveal the features of human motions, although it is difficult to recognize the differences from the original responses. Nonetheless, this study provides a motion expression that should contribute toward a greater understanding of human skill.",
keywords = "Bilateral control, force control, haptics, motion abstraction, motion control, position control",
author = "Takahiro Nozaki and Takahiro Mizoguchi and Kouhei Ohnishi",
year = "2014",
doi = "10.1109/TIE.2014.2308162",
language = "English",
volume = "61",
pages = "6191--6201",
journal = "IEEE Transactions on Industrial Electronics",
issn = "0278-0046",
publisher = "IEEE Industrial Electronics Society",
number = "11",

}

TY - JOUR

T1 - Motion expression by elemental separation of haptic information

AU - Nozaki, Takahiro

AU - Mizoguchi, Takahiro

AU - Ohnishi, Kouhei

PY - 2014

Y1 - 2014

N2 - This study aims to reveal the concealed features of human motions. For this purpose, a method of elemental separation (ES method) of human motions is proposed. First, human motions are extracted as haptic information through a bilateral control system. Then, by using the proposed method, the haptic information is divided into basic elements: 1) transformation matrices; 2) hybrid angles; 3) pure position commands; and 4) pure force commands. The proposed method is validated through simulations as well as experiments with robotic and human operators. The obtained results clearly reveal the features of human motions, although it is difficult to recognize the differences from the original responses. Nonetheless, this study provides a motion expression that should contribute toward a greater understanding of human skill.

AB - This study aims to reveal the concealed features of human motions. For this purpose, a method of elemental separation (ES method) of human motions is proposed. First, human motions are extracted as haptic information through a bilateral control system. Then, by using the proposed method, the haptic information is divided into basic elements: 1) transformation matrices; 2) hybrid angles; 3) pure position commands; and 4) pure force commands. The proposed method is validated through simulations as well as experiments with robotic and human operators. The obtained results clearly reveal the features of human motions, although it is difficult to recognize the differences from the original responses. Nonetheless, this study provides a motion expression that should contribute toward a greater understanding of human skill.

KW - Bilateral control

KW - force control

KW - haptics

KW - motion abstraction

KW - motion control

KW - position control

UR - http://www.scopus.com/inward/record.url?scp=84902338495&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84902338495&partnerID=8YFLogxK

U2 - 10.1109/TIE.2014.2308162

DO - 10.1109/TIE.2014.2308162

M3 - Article

AN - SCOPUS:84902338495

VL - 61

SP - 6191

EP - 6201

JO - IEEE Transactions on Industrial Electronics

JF - IEEE Transactions on Industrial Electronics

SN - 0278-0046

IS - 11

M1 - 6749002

ER -