We are developing a system capable of observing a human
performing a task and understanding the task well enough to
replicate it. This approach is called Assembly Plan from
Observation . In order to replicate the observed task, we
have to analyze the entire sequence. This can be done by first
segmenting the task sequence into its constituent pre-grasp,
grasp, and manipulation phases . This paper describes
the different analyses that can be done subsequent to the
temporal segmentation. These include human grasp recogni
tion, extraction of object motion, and the spatiofrequency
(spectrogram) analysis of the manipulation phase.
 K. Ikeuchi and T. Suehiro, "Towards an Assembly Plan
from Observation, Part I: Assembly task recognition using
face-contact relations (polyhedral objects)," Proc. Int'l
Conf. on Robotics and Automation, 1992, pp. 2171-2177.
 S.B. Kang and K. Ikeuchi, Temporal Segmentation of
Tasks from Human Hand Motion, Tech. Rep. CMU-CS-93-150,
Carnegie Mellon University, Apr. 1993.