Human-demonstration based approach to the recognition of process state transitions in insertion of deformable tubes

A human-demonstration based approach to the recognition of process state transitions in the insertion of a deformable tube is presented. First, human demonstration of the insertion of a deformable hose into a rigid plug is measured by use of a position sensor and a force sensor. Secondly, the measurements are analyzed with regard to the process states during the insertion. Human recognition laws to detect process state transitions from force sensation are then extracted through the analysis of human demonstration. Finally, human motion during the insertion is transplanted to a mechanical manipulator to examine whether the human recognition laws are useful or not for the insertion performed by mechanical manipulators