Reproduction of linear motion with adaptation for change in environmental position

Noboru Tsunashima, Seiichiro Katsura

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

In recent years, a technology for the preservation and reproduction of human motion has been in demand in the fields of manufacturing and human support. An efficient method for this purpose is the use of a motion-copying system. This system deals not only with the trajectory but also with the strength of human motion. However, there are several problems associated with this system. One of them is that the saved motion is not reproduced completely when the environmental location in the motion-loading system is different from that in the motion-saving system. For real-world haptics, a reproduction method that considers the relationship between human motion and the environment is necessary. In this paper, a motion-copying system based on acceleration information is proposed. In the proposed method, human motion is treated as the acceleration information. As a result, motion reproduction is realized even when the environmental location is different, because the acceleration information does not depend on the initial position. The validity of the proposed method is confirmed by experiments.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume132
Issue number5
DOIs
Publication statusPublished - 2012

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Keywords

  • Acceleration control
  • Bilateral control
  • Human support system
  • Motion copying system
  • Real-world haptics
  • Skill acquisition

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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