Motion copying system based on real-world haptics in variable speed

The paper proposes a novel motion copying system considering variable reproduction velocity. The motion copying system consists of motion saving system and a motion loading system. The motion saving system preserves a motion of a human operator to a motion data memory. The motion loading system operates according to saved position and force in the motion data memory, and reproduces saved motion. The reproduced position and force corresponds to stored position and force. The proposed motion copying system in this paper is able to vary the reproduction velocity. By the experiment, the paper confirmed that a reproduction velocity can be freely changed, when the motion loading system reproduces motion.