Synchronism evaluation of multi-DOF motion-copying system for motion training

Koichiro Nagata, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

Recently, motion control strategies that deal with position and force information simultaneously are attraction attention for human support. Acceleration control is one of the candidates for realizing position control and force control simultaneously. In this paper, the motion-copying system based on acceleration control is in focus. The motion-copying system is the system which stores human motion, by storing the postion and force information of the human motion. The motion-copying system is expected to be applied to systems in various fields, such as medical surgery robots as well as robots used to train skills. However, the convetional motion-copying system struggles with the problem of losing robustness in the motion-reproduction phase, especially under external disturbances. In this paper, a novel control strategy of motion-copying system which assures robustness under external disturbance is introduced. By using the proposed method, the motion-reproduction system will be able to reproduce the stored motion accurately, even when a trainee is holding on to the system and applying the external force to the system. This system enables a trainee to acquire the stored skills, using both the visual and the haptic sense. Validity of the proposed method is verified through experimental results.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages500-505
Number of pages6
ISBN (Electronic)9781479936335
DOIs
Publication statusPublished - 2015 Apr 9
Event2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
Duration: 2015 Mar 62015 Mar 8

Publication series

NameProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
CountryJapan
CityNagoya
Period15/3/615/3/8

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Fingerprint Dive into the research topics of 'Synchronism evaluation of multi-DOF motion-copying system for motion training'. Together they form a unique fingerprint.

Cite this