Human Intention Inference Using Expectation-Maximization Algorithm With Online Model Learning

• Published in: IEEE transactions on automation science and engineering Vol. 14; no. 2; pp. 855 - 868
• Main Authors: Ravichandar, Harish Chaandar, Dani, Ashwin P.
• Format: Journal Article
• Language: English
• Published: IEEE 01.04.2017
• Subjects: Adaptation models; Artificial neural networks; Dynamics; expectation-maximization; Heuristic algorithms; Hidden Markov models; Human-robot interaction; Inference algorithms; intention inference; neural network modeling; Prediction algorithms

An algorithm called adaptive-neural-intention estimator (ANIE) is presented to infer the intent of a human operator's arm movements based on the observations from a 3-D camera sensor (Microsoft Kinect). Intentions are modeled as the goal locations of reaching motions in 3-D space. Human arm...