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This paper proposes a method to recognize human motion using DP matching based on position and force information. In this method, the position and force information is acquired by bilateral control system. Two kinds of motion information are recorded beforehand. These are called a reference pattern and an input pattern. The reference pattern is data of simple human motion, and the input pattern is data of a sequence of human motion. The input pattern is compared with the reference pattern. Then, it is recognized when the motion of the reference pattern is performed. DP matching is utilized in order to cope with nonlinear expansion and contraction of time. The validity of the proposed method is verified by experiments.