Research on Extraction and Reproduction of Human Calligraphy Motion Using Motion Sensor and 6-axis Force Sensor

In recent years, robot systems to reproduce human motions such as a motion-copying system have been studied in the industrial field. The motion-copying system uses bilateral control to extract human motions. However, the robot's mechanics may affect human operability. This paper proposes the human motion extraction system using a motion sensor and a force sensor. The proposed system does not interfere with human operation. This study focuses on human calligraphy motions as the dexterous human motions. The extraction system extracts the brush position data from a motion sensor. In addition, the system extracts the force data applied to the brush from a force sensor. By using the extracted position and force data, a parallel robot reproduces human calligraphy motions. The reproducibility of the skills and the effectiveness of this system were confirmed by comparing the original characters with the reproduced characters.