Secure Motion-Copying via Homomorphic Encryption

This study aims to develop an encrypted motion-copying system using homomorphic encryption for secure motion preservation and reproduction. A novel concept of encrypted motion-copying systems is introduced, realizing the preservation, edition, and reproduction of the motion over encrypted data. The developed motion-copying system uses the conventional encrypted four-channel bilateral control system with robotic arms to save the leader's motion by a human operator in the ciphertext in a memory. The follower's control system reproduces the motion using the encrypted data loaded from the secure memory. Additionally, the developed system enables us to directly edit the motion data preserved in the memory without decryption using homomorphic operation. Finally, this study demonstrates the effectiveness of the developed encrypted motion-copying system in free motion, object contact, and spatial scaling scenarios.