TY - JOUR
T1 - Acquisition and analysis of finger motions by skill preservation system
AU - Katsura, Seiichiro
AU - Ohishi, Kiyoshi
N1 - Funding Information:
Manuscript received July 31, 2006; revised September 11, 2007. This work was supported in part by the Industrial Technology Research Grant Program 07C46047a in 2007 from New Energy and Industrial Technology Development Organization (NEDO) of Japan. This paper was presented in part at the IEEE 3rd International Conference on Mechatronics, ICM ’06-Budapest, July 3–5, 2006.
PY - 2007/12
Y1 - 2007/12
N2 - Recently, skill acquisition of experts has been a serious problem of the medical or production fields. This paper proposes a skill preservation system for the motion acquisition of human fingers. The proposed skill preservation system is composed of a master-slave system, and the control system is based on bilateral motion 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 a bilateral control. Furthermore, a human motion is acquired in decoupled modal space by using the quarry matrices. The decoupled modes correspond to "translating," "rotating," "grasping" task motions, and so on. Thus, the skilled motion by a human is easily obtained in the modal space. The quarry matrices are also applied for temporal decomposition. As a result, modal and temporal analyses are realized by using the quarry matrices. The proposed skill preservation system is applied for grasping motion by three fingers. The experimental results show viability of the proposed method.
AB - Recently, skill acquisition of experts has been a serious problem of the medical or production fields. This paper proposes a skill preservation system for the motion acquisition of human fingers. The proposed skill preservation system is composed of a master-slave system, and the control system is based on bilateral motion 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 a bilateral control. Furthermore, a human motion is acquired in decoupled modal space by using the quarry matrices. The decoupled modes correspond to "translating," "rotating," "grasping" task motions, and so on. Thus, the skilled motion by a human is easily obtained in the modal space. The quarry matrices are also applied for temporal decomposition. As a result, modal and temporal analyses are realized by using the quarry matrices. The proposed skill preservation system is applied for grasping motion by three fingers. The experimental results show viability of the proposed method.
KW - Acceleration control
KW - Bilateral teleoperation
KW - Disturbance observer
KW - Force control
KW - Motion control
KW - Quarry matrix
KW - Real-world haptics
KW - Skill preservation
UR - http://www.scopus.com/inward/record.url?scp=66149110282&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=66149110282&partnerID=8YFLogxK
U2 - 10.1109/TIE.2007.896503
DO - 10.1109/TIE.2007.896503
M3 - Article
AN - SCOPUS:66149110282
SN - 0278-0046
VL - 54
SP - 3353
EP - 3361
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 6
M1 - 4384349
ER -