A method for motion extraction and guide based on haptic information relationship

Shoyo Hyodo, Kouhei Ohnishi

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

Nowadays, with the coming of population aging, extractions of skilled human motion and human support techniques are needed in medical or production fields. This paper proposes a method for motion extraction and guide based on haptic information. Haptic information includes human action force and position response. Human action force and position response are sensed by using master-slave robot hand which is bilateral controlled. Skill motion is extracted as action modes and action energies calculated from human action force relationship and position response relationship. Action modes are modes which express action force and position response direction, and action energies are amplitude of each action mode. Motion guide system is composed of action force extraction and modal compliance controller which are designed based on action modes and action energies. The validity of the proposed methods is shown by the experimental results.

本文言語English
ホスト出版物のタイトルAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
ページ428-433
ページ数6
DOI
出版ステータスPublished - 2008
外部発表はい
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3月 262008 3月 28

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC
1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
国/地域Italy
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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