Acquisition and analysis of finger motions by skill preservation system

Seiichiro Katsura, Kiyoshi Ohishi

研究成果: Article査読

19 被引用数 (Scopus)

抄録

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.

本文言語English
論文番号4384349
ページ(範囲)3353-3361
ページ数9
ジャーナルIEEE Transactions on Industrial Electronics
54
6
DOI
出版ステータスPublished - 2007 12
外部発表はい

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

フィンガープリント 「Acquisition and analysis of finger motions by skill preservation system」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル