TY - GEN
T1 - Towards the quantification of human-robot imitation using wearable inertial sensors
AU - Xochicale, Miguel P.
AU - Baber, Chris
AU - Oussalah, Mourad
PY - 2017/3/6
Y1 - 2017/3/6
N2 - 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.
AB - 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.
KW - human-robot imitation
KW - movement variability
KW - non-linear dynamics
KW - state space reconstruction
KW - wearable inertial sensors
UR - http://www.scopus.com/inward/record.url?scp=85016429777&partnerID=8YFLogxK
U2 - 10.1145/3029798.3038320
DO - 10.1145/3029798.3038320
M3 - Conference contribution
AN - SCOPUS:85016429777
T3 - ACM/IEEE International Conference on Human-Robot Interaction
SP - 327
EP - 328
BT - HRI 2017 - Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction
PB - IEEE Computer Society
T2 - 12th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2017
Y2 - 6 March 2017 through 9 March 2017
ER -