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. © 2025 IEEE.

In recent years, measurement of physical properties such as dynamic characteristics of micro objects is required in industrial and medical fields. However, measurement of dynamic characteristics such as stiffness, viscosity, and mass for micro objects has not been widely studied. Moreover, contacting the objects by manipulators was performed without force feedback in the conventional methods. Therefore, there is a possibility of damaging the micro objects. To address these problems, this paper proposes an estimation method for the dynamic characteristics of the micro objects using micro-macro bilateral control. The micro-macro bilateral system allows the operator to perform the micromanipulation of the objects safely. From position, velocity, acceleration, and force information obtained by grasping, the dynamic characteristics are estimated by the recursive least squares (RLS) algorithm. As a result, the characteristics such as the stiffness, the viscosity, and the mass of the micro objects are obtained based on the micro-macro bilateral control. The validity of the proposed method was confirmed by the experimental results. © 2025 IEEE.