Skill acquisition of human fingers based on interaction mode control

Seiichiro Katsura, Toshiyuki Suzuyama, Kiyoshi Ohishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Recently, skill preservation of an expert has been a serious problem of the medical or production fields. This paper proposes a skill preservation system for 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 the bilateral control. Furthermore, human motion is acquired in decoupled modal space by using the mode quarry matrix. The decoupled modes correspond to "moving", "yawing", "grasping" tasks, and so on. Thus the skilled motion by a human is easily obtained in the modal space. The mode quarry matrix is also applied for temporal decomposition. As a result, modal and temporal analyses are realized by using the mode 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
Title of host publication2006 IEEE International Conference on Mechatronics, ICM
Pages607-612
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE International Conference on Mechatronics, ICM - Budapest, Hungary
Duration: 2006 Jul 32006 Jul 5

Other

Other2006 IEEE International Conference on Mechatronics, ICM
CountryHungary
CityBudapest
Period06/7/306/7/5

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ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Katsura, S., Suzuyama, T., & Ohishi, K. (2006). Skill acquisition of human fingers based on interaction mode control. In 2006 IEEE International Conference on Mechatronics, ICM (pp. 607-612). [4018430] https://doi.org/10.1109/ICMECH.2006.252595