Task preservation of multi-degree-of-freedom motion using interaction mode control

Seiichiro Katsura, Kiyoshi Ohishi

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

2 Citations (Scopus)

Abstract

Recently, skill preservation of an expert and skill training have been a serious problem of the medical or production fields. This paper proposes a task preservation and reproduction of multi-degree-of-freedom motion using interaction mode control based on bilateral motion control. The proposed task preservation system is composed of two modes; acquisition mode and reproduction mode. In the acquisition mode, the control system is based on bilateral 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 multi-degree-of-freedom motion by a human is easily obtained and analyzed in the modal space. In the reproduction mode, the acquired human motion is reproduced in the modal space by using the interaction mode control. The proposed task preservation system is applied for grasping motion by three fingers. The experimental results show viability of the proposed method.

Original languageEnglish
Title of host publicationEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings
Pages506-512
Number of pages7
DOIs
Publication statusPublished - 2007
Externally publishedYes
EventEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference - Portoroz, Slovenia
Duration: 2006 Aug 302006 Sep 1

Other

OtherEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference
CountrySlovenia
CityPortoroz
Period06/8/3006/9/1

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Katsura, S., & Ohishi, K. (2007). Task preservation of multi-degree-of-freedom motion using interaction mode control. In EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings (pp. 506-512). [4061754] https://doi.org/10.1109/EPEPEMC.2006.283211