Abstract: A system is provided that effectively assists a user in learning a prescribed motion, irrespective of the user's age and motivation. The system comprises a first contact unit, a sensor unit, and a second contact unit. The first contact unit is connected to a point to be operated. By the first contact unit coming into contact with a first limb of a user, a target position that is defined by the point to be operated is variably configured in conformity with the motion of the first limb. The sensor unit is configured so as to measure an error from the prescribed trajectory of the target position. The second contact unit is provided with an error sensation presentation unit and is configured so as to come into contact with a second limb that is different from the first limb of the user. The error sensation presentation unit is configured so as to add a kinesthetic or tactile sense based on the error to the second limb and thereby present the error to the user.

Abstract: A robot system is provided, comprising: a robot including a first sensor configured to measure a displacement quantity of a coordinate position between a work point and a target point defined for each of a plurality of objects with different shapes or a physical quantity that changes due to the displacement quantity at a first operation frequency; and a control apparatus for controlling the robot, including a coarse operation management unit configured to move the target point to the vicinity of the object at a second operation frequency, a calculation control unit configured to generate a control signal to correct the displacement quantity at a third operation frequency in such a manner that the target point approaches the work point, and a correction drive unit configured to execute a correction operation to align the target point with the work point based on the control signal; wherein the second operation frequency is a frequency less than or equal to ½ of the first and third operation frequencies.

Abstract: Provided are a robot assistance device and a robot assistance system capable of expanding the accuracy of human movement while completely maintaining human cognition and safety. The robot assistance device includes: an operation unit and an operated portion that are non-electrically connected to each other, wherein: a user is able to displace a target position defined by the operated portion while having self-awareness by operating the operation unit; a sensor unit provided on a drive unit and configured to acquire a feature information regarding a predetermined trajectory about a displacement of the target position, and the drive unit provided on the operated portion and configured to be driven so as to correct a deviation of the target position from the predetermined trajectory based on a control signal determined based on the feature information.