Evaluation of manipulative familiarization and fatigue based on contact state transition

In this research, we propose a method for a quantitative evaluation of the variation and the similarity of manipulation among the subjects. The evaluation is performed by observing the contact state transition on the palm surface and by using continuous DP matching. Using this method, the individual variation and the level of familiarization of manipulative skills can be evaluated. The evaluation experiment is conducted using a system that can detect the contact state on the palm surface by attaching a tactile sensor sheet on the manipulated object. This experiment included three kinds of manipulative tasks using a cylindrical object. The experiment result shows the subject´s level of familiarization and fatigue over time.