Human skill transfer system via Novint Falcon

This paper presents a skill transfer system of hand movement via Novint Falcon. In the research, expert can demonstrate his or her hand movement skill through the 3 DOF device while the novice is able to practice how to perform that trajectory on the same device by himself or herself. The proposed skill transfer system composes of skill modeling, skill reproduction, skill playback, and skill evaluation. During skill modeling, the Gaussian mixture model algorithm is selected to model the hand´s trajectory. The trajectory data can be reproduced by applying a Gaussian mixture regression algorithm in the reproduction process. Skill playback then receives reproduced data to present the modeled trajectory of the device to the novice. After training, the novice will perform the trajectory that he or she already practiced through the device. Then, the skill evaluation process will determine the similarities of spatial and temporal values between the modeled trajectory and the captured novice´s trajectory. The experimental results show that this proposed system is efficient enough for modeling and reproducing the captured trajectory in the human skill transfer from the expert to the novice.