Recently, skill preservation of an expert has been a serious problem of the medical or production fields. This paper proposes a motion acquisition and reproduction of human motion by bilateral motion control. The proposed skill 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 the 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 quarry matrix. The decoupled modes correspond to "moving", "yawing", "grasping" tasks, and so on. Thus the skilled 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 the interaction mode control. The proposed skill preservation system is applied for grasping motion by three fingers. As a result, both grasping force and moving position are well reproduced automatically. The experimental results show viability of the proposed method.
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