Abstraction of Action Components Unconstrained by Alignment of Haptic Sensing Points

作者：Kuwahara Hiroaki^*; Shimono Tomoyuki; Tanaka Hiroyuki; Yashiro Daisuke; Ohnishi Kouhei

来源：IEEE Transactions on Industrial Electronics, 2011, 58(8): 3196-3204.

DOI：10.1109/TIE.2011.2126530

• Action components
• bilateral control
• haptic bilateral system
• haptic motion
• haptics
• skill transfer

This paper proposes an abstraction method of independent components of human action from haptic information. First, the haptic information is obtained using a haptic device (haptic bilateral system). Second, the action components can be abstracted from the haptic information by using the proposed method. The proposed method achieves abstraction of the action components unconstrained by the alignment of sensing points with simple calculations. The proposed method is applied for grasping and manipulation motions by two- and three-finger robots. The validity of the proposed method is shown by the experimental results.

• 出版日期2011-8