Analyze assembly skills using a motion simulator

Many researchers have focused on transferring human skills to robots by extracting those skills into the machine- understandable models. It is an important step towards creating an intelligent robot in a cooperative environment. These models not only can be employed to transfer human control strategy to robots, but also can be used to improve the new workers´ performance. In this paper, we propose a method that is to extract the advantages of several operators´ skills and synthesize new skills to train new workers. To realize the skill extract, synthesis and transfer system, it is absolutely necessary to reproduce and synthesize the experts´ motions. In the latter case, a kinematic simulator of human body is employed to realize the synthesis of the operators´ motions based on the detected motion data. To verify the proposed method, we employed it to execute a peg-in-hole assembly task. The results show that after training by the synthesized skill model, the new operator´s performance is improved significantly.