Reference Trajectory Adaptation to Improve Human-Robot Interaction: A Database-Driven Approach

Many robotic devices that are used for therapy or as assistive devices rely on pre-defined reference trajectories to assist the user's movements. Fixed pre-defined trajectories force the user to adapt to unnatural movement patterns which may be detrimental to rehabilitation outcomes. We propose...

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Bibliographic Details
Published in2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) Vol. 2018; pp. 1727 - 1730
Main Authors Haufe, F. L., Maggioni, S., Melendez-Calderon, A.
Format Conference Proceeding Journal Article
LanguageEnglish
Published United States IEEE 01.07.2018
Subjects
Hip
Knee
Legged locomotion
Physiology
Trajectory
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Summary:Many robotic devices that are used for therapy or as assistive devices rely on pre-defined reference trajectories to assist the user's movements. Fixed pre-defined trajectories force the user to adapt to unnatural movement patterns which may be detrimental to rehabilitation outcomes. We propose a database-driven approach to adapt the reference trajectory of robotic training devices that rely on cyclic motion such as walking. Dynamic time warping is used to compare the measured pattern with a database of pre-approved safe trajectories; the best matching pattern is selected from the database and used for the next movement sequence. The proposed approach was evaluated in computer simulations and a bioinspired robotic test bench. Our proposed method reduced the RMS error between individual user trajectories and the supplied reference, even in the presence of measurement noise.
ISSN:1557-170X
1558-4615
DOI:10.1109/EMBC.2018.8512604