This paper proposes a novel motion-copying system for performance improvement of motion reproduction. For storage and reproduction of human motion information, a motion-copying system was proposed previously. The motion-copying system is based on the bilateral control, and the stored motions which are obtained by the master-slave system can be reproduced by the slave. In the conventional method, however, precise motion reproduction can not be always attained because the slave reproduces the motion data which are acquired at the master. On the other hand, the proposed method stores the motion data at the slave, and the slave reproduces this data. In the proposed method, force, position, and acceleration reference at the slave are stored and reproduced. Furthermore, this paper analyzes the performances of the conventional method and the proposed method, and reveals that the proposed method shows the better performance with respect to motion reproduction than the conventional method. Finally, the validity of the proposed method is verified by some experiments.