A method of motion reproduction for calligraphy education

Nowadays, a system of saving and reproducing the human motion has been demanded. Since worker and craftsman have advanced techniques, aging of them is becoming a great issue. Therefore, handing down the advanced skills is important for future generations. A motion-copying system has been proposed as the system of saving and reproducing the human motion. The motion-copying system is based on the bilateral control. The master and the slave have been controlled in each coordinate in the conventional bilateral control. In case of a mobile robot and an endoscopic surgery robot, it is appropriate to control in each coordinate. However, operators get a different feeling from a real feeling. Not to lose touch with the actual feeling of operating, the identical-coordinate bilateral control is constructed in this paper. Especially, the writing motion, which needs delicate brushwork, is taken into consideration in this paper. By using the identical-coordinate bilateral control, the operators feel as if they write with the jointed pen, which is divided into two parts physically. At this time, the haptic motion data is acquired, which can not be obtained previously. Additionally, for constructing a new education system, the motion-copying system is introduced. To increase applicability of the motion-copying system in various fields, every device can be used, matching with the purpose or the environment in the motion-loading system. With the proposed system, the saved skills can be reproduced repeatedly using haptic devices with different configurations.