Position based free-motion data connecting by using minimum force-differential model

Abstract

Motion-copying system (MCS) enables to preserve and reproduce the human motion faithfully, and various studies about MCS have been accomplished. Thereby, the concept of the motion database is created, and it is considered that preservation and reproduction of the motion data will spread in the various field including the industry, art and medical care. Then, The demand for processing the saved motion data as further utilization is expected. To connect motion data, there is the method which connects the motion data using the third spline function. However, this method isn't suitable for cooperative task of human and robots such as rehabilitation system because the human motion properties are ignored. In this study, the motion data that are saved individually are connected by using minimum-force differential model which contains minimum-jerk model known as a human motion model. Validity is confirmed by the experiments.