Human Manipulative Skill Analysis and Acquisition for the Intelligent Assisting System

Abstract

In this paper we propose a new forthcoming research topic the Intelligent Assisting System IAS. Using this system we want to approach the identification and analysis of human manipulation skills to be used for intelligent human operator assistance. A manipulation skill data base enables the IAS to perform complex manipulations on the motion control level. Through repeated interaction with the operator for unknown environment states, the manipulation skills in the data base can be increased on-line. A model for manipulation skill based 011 the grip transformation matrix is proposed, which describes the transformation between the object trajectory and contact conditions. The dynamic behavior of the grip transform is regarded as the essence of the performed manipulation skill. We describe the experimental system setup of a skill acquisition and transfer system as a first approach to the IAS and some results confirming the calibration method of the developed sensor glove. A simple manipulation example shows the feasibility of the proposed manipulation skill model. Further this paper defines a control algorithm realizing object task trajectories and its feasibility is shown by simulation.