Reduction of Motion Data by Using Motion Assembly System for Haptic Database

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  • 動作アセンブリシステムによる触覚データベースのための動作情報量の削減法
  • ドウサ アセンブリ システム ニ ヨル ショッカク データベース ノ タメ ノ ドウサ ジョウホウリョウ ノ サクゲンホウ

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Abstract

Recently, extensive research has been carried out on the preservation of human skill, a promising means of education and training. In the future, construction of motion database networks is required to preserve and utilize various skills. However, large-capacity data storage devices are required to save as many motion patterns as possible. Data compression methods based on signal processing are typically employed for data reduction. These methods, however, involve extensive and complex calculation and afford poor motion reproducibility. This paper presents a system for reducing motion data; this system has been designed without considering data compression methods. The proposed system is defined as a motion assembly system. During motion saving, the motion data measured by a master-slave system are saved and decomposed into a grasping mode and a manipulation mode. During motion reproduction, the data corresponding to the reproduced motion are generated by the assembly of the saved grasping and manipulation modes. Various motion patterns are reproduced by using some functional elements.

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