Reproducibility and operationability of motion-copying system for education

Following audio and visual information, storing and reproducing of human motion is attracting attention. In order to realize this concept, motion-copying system has been proposed. The motion-copying system is based on the bilateral control composed of master and slave system. In this system, the motion of master system can be stored and reproduced by the only slave system. The useful application of motion-copying system is the education system. As the model case, it is considered that human touches the slave system in motion-loading. However, the conventional motion-copying system is inappropriate for education and there are no index for evaluating the performance of system. Accordingly, this paper proposes novel indexes for motion-copying system. In addition, a motion-copying system for education is proposed. In the proposal, not only force, position information of master but also force information of slave are stored. The saved motion is reproduced by utilizing the motion data memory effectively. On the basis of these indexes, performances in conventional motion-copying system and the proposal are analyzed.