With the declining birthrate and aging population, it is important to inherit expert skills. A motion-copying system can accurately reproduce the position, velocity, and force of human motion at the same time. However, it is difficult to reproduce the same motion in an environment different from the saved environment. One of the solutions is to model the relationship between the position, velocity, and force of motion. It is important to improve the accuracy of the model and the versatility of modeling. In this study, we model the environment by using an element description method. Focusing on the calligraphy movement, it was shown that the accuracy of the relationship between the force, position and velocity of the brush is improved compared to the conventional model.