Extraction of trainee force based on motion-copying system for training system

Recently, “haptic recording” is attracting attention. Haptic recording is the concept for recording and loading of human motions like as audio-visual information. Motion-copying system is the technology which reproduces human motion based on position and force information for this and the applications to various fields is expected. Training system is the important application of this system. For more efficient training, the system for an individual is desired. For this purpose, it is important that the input force by trainee (how a trainee moves) is extracted. However, such a method for extracting only human input force in motion-loading is not considered. Therefore, in this paper, the estimation method for human force in motion-loading step is proposed. In the proposal, by utilizing the saved motion data effectively, not only human motion but also the environment information can be obtained. This is the one of the characteristics of motion-copying system. By using this characteristic, the environmental impedance is identified in motion-saving and the only reaction force from the environment in motion-loading is estimated. From these information, human input force is extracted. In addition, as application of extracted trainee force, one of the structure for training system by utilizing the motion-copying system is presented. This structure can vary the effect from the saved motion and trainee to the reproduced motion arbitrarily. Finally, the validity of the proposed method is confirmed by experiments.