Skill acquisition of human fingers based on interaction mode control

Seiichiro Katsura, Toshiyuki Suzuyama, Kiyoshi Ohishi

研究成果: Conference contribution

抄録

Recently, skill preservation of an expert has been a serious problem of the medical or production fields. This paper proposes a skill preservation system for 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 the bilateral control. Furthermore, human motion is acquired in decoupled modal space by using the mode quarry matrix. The decoupled modes correspond to "moving", "yawing", "grasping" tasks, and so on. Thus the skilled motion by a human is easily obtained in the modal space. The mode quarry matrix is also applied for temporal decomposition. As a result, modal and temporal analyses are realized by using the mode 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
ホスト出版物のタイトル2006 IEEE International Conference on Mechatronics, ICM
ページ607-612
ページ数6
DOI
出版ステータスPublished - 2006
外部発表はい
イベント2006 IEEE International Conference on Mechatronics, ICM - Budapest, Hungary
継続期間: 2006 7月 32006 7月 5

出版物シリーズ

名前2006 IEEE International Conference on Mechatronics, ICM

Other

Other2006 IEEE International Conference on Mechatronics, ICM
国/地域Hungary
CityBudapest
Period06/7/306/7/5

ASJC Scopus subject areas

  • 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
  • 機械工学

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