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Recently, skill acquisition of experts has been a serious problem of the medical or production fields. This paper proposes a skill preservation system for the motion acquisition of human fingers. The proposed skill preservation system is composed of a master-slave system, and the control system is based on bilateral motion control. Since a touching motion is subject to the ldquolaw of action and reaction,rdquo it is possible to decompose force information into action force and reaction force by using a bilateral control. Furthermore, a human motion is acquired in decoupled modal space by using the quarry matrices. The decoupled modes correspond to ldquotranslating,rdquo ldquorotating,rdquo ldquograspingrdquo task motions, and so on. Thus, the skilled motion by a human is easily obtained in the modal space. The quarry matrices are also applied for temporal decomposition. As a result, modal and temporal analyses are realized by using the quarry matrices. The proposed skill preservation system is applied for grasping motion by three fingers. The experimental results show viability of the proposed method.