Title :
Motion-copying system based on velocity information for motion reproduction
Author :
Yajima, Shunsuke ; Katsura, Seiichiro
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan
Abstract :
Recently, real-world haptics has been attracting attention for human support system. In this paper, the motion-copying system based on real-world haptics is focused. The motion-copying system is the system which stores and reproduces human motion based on force and position information acquired by the bilateral control. As the applications, the motion-copying system is expected to be used in various fields such as industrial applications, medical and welfare human assist. However, in the conventional motion-copying system, it is difficult to reproduce the saved motion precisely when the environmental location in the motion-loading system is different from that in the motion-saving system. In this paper, a novel motion-loading system for the change of the environmental location is proposed. By using the proposal, it is possible to reproduce the motion even though the environmental location is varied. Validation of the proposal is verified by experimental results.
Keywords :
haptic interfaces; human-robot interaction; motion control; position control; bilateral control; force information; human support system; motion reproduction; motion-copying system; motion-loading system; position information; real-world haptics; velocity information; Acceleration; Aerospace electronics; Control systems; Force; Humans; Joints; Proposals;
Conference_Titel :
IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society
Conference_Location :
Melbourne, VIC
Print_ISBN :
978-1-61284-969-0
DOI :
10.1109/IECON.2011.6119315