Extraction of Human Manipulative Skills Heads: Shinichi Hirai Contact: Shinichi Hirai Date: 1992 - 1997 Mailing address: Dept. Robotics, Ritsumeikan Univ. Kusatsu, Shiga 525-8577, Japan Supported by: Associated lab/group:

Project Description

The goal of this project is to establish a technique to extract human skills in manipulation and to transplant these skills in a mechanical manipulator. We have applied our method to the insertion of a deformable tube into a plug.

In the manipulation of deformable soft objects, humans utilize their own manipulation skills. For example, humans determine the motion of the manipulated objects so that the operation can be achieved successfully and easily. In addition, they often modify the object motion adaptively according to the human sensation including visual and force sensing. Humans, however, have a difficulty in describing explicitly their motion control and sensation. Thus, it should be effective to extract human skills during the manipulative operations that deal with deformable objects and to transplant the extracted skills into a mechanical manipulator so that it can perform the operation skillfully as humans do with little human intervention. The goal of this project is to establish a technique to extract human skills in manipulation and to transplant these skills in a mechanical manipulator.

Personnel

	Name	Title	Degree
	Gaku Higashiguchi	Graduated	Master of Eng.

Publications

• Shinichi Hirai, Transferring Human Motion to Mechanical Manipulator in Insertion of Deformable Tubes, Journal of Robotics and Mechatronics, Vol.10, No.3, Special Issue on Handling of Flexible Object, pp.209-213, 10.20965/jrm.1998.p0209, June, 1998

• Shinichi Hirai, Hideaki Noguchi, and Kazuaki Iwata, Human-demonstration Based Approach to the Recognition of Process State Transitions in Insertion of Deformable Tubes, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.3, pp.2006-2011, 10.1109/ROBOT.1996.506166, Minneapolis, MN, U.S.A., Apr. 22-28, 1996
• Shinichi Hirai, Hideaki Noguchi, and Kazuaki Iwata, Transplantation of Human Skillful Motion to Manipulators in Insertion of Deformable Tubes, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.2, pp.1900-1905, 10.1109/ROBOT.1995.525542, Nagoya, Japan, May 21-27, 1995

Notes

Human operation measuring

Human operation measuring

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