Repetitive motion-reproduction based on a motion-copying system for automation of human motions

A motion-copying system enables to store and reproduce human motions composed of position and force informations. The system can automate human skills, and can substitute automatic machines for professional human work. However, conventional motion-copying systems have been studied by considering motion-reproduction of only stored human motion. It does not use an advantage of automatic machines which can work repetitively for long hours. In this paper, repetitive motion-reproduction is proposed to realize reproducing professional human skills repetitively for long hours. The proposed motion-copying system has a periodic signal generator which modifies motion-data into repetitive motion-data. Practical validity was confirmed with experiments.