Towards the quantification of human-robot imitation using wearable inertial sensors
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Authors
Colleges, School and Institutes
External organisations
- Birmingham University
- School of Electronics
- University of Oulu
Abstract
In this study, we propose a metric in order to quantify how closely a healthy participant imitates a robot, for which we use inertial sensors attached to both individual participant and to a humanoid-robot. For the experiment, twelve healthy participants were invited to perform simple arm movements in order to apply the state space reconstruction which is based on the method of time-delay embedding and PCA. Although the performed arm movements of the healthy participants were very simple, the study reveals that the participants showed different ranges of the proposed metric that can be linked to the level of imitation. Such a metric can be improved in order to determine a detailed scoring of human-robot imitation during training or rehabilitation activities.
Details
Original language | English |
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Title of host publication | HRI 2017 - Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction |
Publication status | Published - 6 Mar 2017 |
Event | 12th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2017 - Vienna, Austria Duration: 6 Mar 2017 → 9 Mar 2017 |
Publication series
Name | ACM/IEEE International Conference on Human-Robot Interaction |
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ISSN (Electronic) | 2167-2148 |
Conference
Conference | 12th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2017 |
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Country | Austria |
City | Vienna |
Period | 6/03/17 → 9/03/17 |
Keywords
- human-robot imitation, movement variability, non-linear dynamics, state space reconstruction, wearable inertial sensors