关键词：运动控制；运动复制系统；双向控制
摘 要：Recently, motion-copying system that can store and reproduce the human motion has been studied. The conventional system saves and loads the motion based on position and force information. However, stored position and force information can not be achieved in different environment. From the viewpoint of human's musculoskeletal function, the new control target of motion-loading system is introduced. The control target is motion power. Motion power is acquired from multiplication of force and velocity. To achieve the reproduction of the motion power, motion power-based motion-loading system is proposed. According to the experiments with different enviroments in loading phase, validity of the proposed method is shown.