Obis and kinrans produced in Nishijin are required to be of higher value, and most of the high-grade articles of those things are woven by hand looms. These hand looms are hardly mechanized and most of the weaving operations are only made by human power of skillful weavers. The number of these weavers has been decreasing greatly because of becoming older and few successors. If we neglect this situation, it is feared that we can't keep producing the articles by hand looms. Thus we have to do something to solve this situation rapidly.
Although hand looms are very inferior to power looms in productivity in terms of the articles, they have many superior features, and the articles woven by them are valued highly. In this study, some automatic motions by mechatronic technology, which don't injure the features of hand looms and can produce the same grade articles as the skillful weaver produces, were developed for the weaving technology of the hand loom. One is three automatic motions of ground weft inserting, beating, and taking-up, which are the most fundamental weaving operations in hand looms. The other is an embroidery robot which embroiders automatically by inserting color wefts only into the parts of the figures, which is one of the features of hand looms. There is no trouble in weaving obis and kinrans with these developed motions and no weaving defect on the articles resulting from the mechanism developed in this study. With this technology, it was possible to save ourselves from the trouble of weaving by hand looms and to learn the weaving techniques in the short term.