A motion reproduction method for training system based on spatiotemporal admittance control

This research proposes a motion training system based on motion-copying system with the space and time domain admittance control. In order to apply a motion-copying system to the motion training system, a structure of dual motion reproduction system is introduced in which a motion reproduction system is constructed not only at a slave system but also a master system. Not only the slave system but also the master system reproduces motions of a trainer and a trainee trains by interacting with the reproduction system. If the trainee performs the inappropriate motions, the motions are transmitted by a spatial admittance control against the incorrectly applied force. In addition, by expanding the admittance control to a time domain, the trainee can train independently from the time frame of the saved motions. Experimental results show the validity of the proposed method.