アクティブメディアを用いたコーチによるスキル伝達

抄録

In recent years, a lot of researches have focused on not only transferring human control strategy to robots, but also supporting unskilled men to improve their ability. In general, transferring motor skills from human to human via conventional media is very difficult. However, the physical assistance by the coach is effective for motor skill training and can accelerate learning. A robotic device can be considered as an active-medium which can provide accurate measurement of motion and physical assistance for human. In this paper, the skill transfer by the neural network-based virtual coach using the active-medium is discussed. The task for operators is to keep the virtual inverted pendulum from falling over. The trained neural network can successfully abstract the essential feature of coach and is adequately compensating for unskillful operation of learner. In the training experiments, the skill-up process is investigated and the effectiveness of proposed training method involving haptics is confirmed.