Duplicating the skills of hand yarn spinning using a robot

This paper describes the characterization of the skills of hand yarn spinning and, based on these observations, the duplication of hand spinning using a robot manipulator. Sensing and measurement techniques were developed. Suitable values for the control parameters were determined from these preliminary experiments. The experimental results confirmed the relationship between the stabilization of yarn tension and the movements of the human hand during spinning. These results were validated by successfully matching the performance of a skilled human hand spinner with a robot.