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 [6]. 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 [8]. 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.

[6] 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.

[8] 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.