Reproducibility analysis and experimental validation of motion-copying system

This paper studies motion reproducibility of a motion-copying system, which is capable of storing and reproducing motion of human operators. In the paper, the motion reproducibility is expressed as transfer function from a force response of the storage phase to a force response of the reproduction phase. According to analysis of the derived transfer function, this paper confirms that the motion reproducibility is varied depending on variations of force gain, position gain, bandwidth of disturbance observer, environmental stiffness, and viscosity frictions. By the experiment, validity of the analysis method of the motion reproducibility is verified.