An analysis method for human assembly operations

A method of describing human movements in a symbolic manner is discussed. Human workers learn operation skills by repeating the task. It is not easy for the worker to describe his skill as robot commands or motion control parameters. To transfer human skills to robots, they must be represented in a symbolic form. In this analysis, the human operator´s movements are converted into a sequence of triplets (states, movement parameters, rotation parameters). Dextrous movement is defined as the difference set between triplets among the tasks. Results of experiments using a six-degree-of-freedom manipulator are discussed