Continuous integration of motion components using motion copying system

This paper presents the development and implementation of continuous integration of human motion. Recently, development of next-generation technology for save and reproduction of human motion based on haptic information is demanded in manufacturing and human support fields. Motion copying system which is the key technology to attain above has already proposed. Considering to adapt motion copying system in various fields, it is necessary to integrate some saved motion data and reproduce like one motion. In previous publication of the authors, the basic method for reproduction of integrated motion has already been proposed. However, basic method to integrate motion components comprehends the fear to break an environment, when coupling time, which connect motion components, is set short. In this paper, continuous integration of motion components is realized by adding acceleration feedforward loop to basic method during coupling time. Using this method, the coupling time is able to set shorter, because the tracking capability is improved. In this paper, an availability of proposed method is verified by experiments. By the proposed method, it is possible to open up new areas of applications like skill acquisition of experts, power assist, and so on.