The Humanoid Robot/Camera System for Teaching YOGA Exercise Motions

To address the problem of the shortage in caregivers, we have developed a system that can teach learners exercises with a humanoid robot. The system uses a depth camera and a humanoid robot. Here, we present the method we used to obtain the motion data when a learner imitates the exercise motions performed by the robot, and we examine the usefulness of the exercise instruction by the robot.