Analysis and modeling of emphatic motion use and symbolic expression use by observing humans' motion coaching task -models for robotic motion coaching system-

As a step of a robotics research that requires proper binding of motion patterns and symbolic expressions, in this paper, we attempt to model how humans use motion patterns and symbolic expressions for motion coaching. Through experiments of tennis forehand swing coaching task for beginners, we observed and analyzed three kinds of motions; a learning target swing performed by human coaches, swings performed by learners, and dynamically modified swing motions by human coaches according to performances of learners. With results, we modeled relationship between differences among the three motions in a phase space and used symbolic expressions. Then we discussed how the model can be applied for realizing an efficient motion coaching system we have been proposed.