In this paper, we aim at improving human motion prediction during human-robot collaboration in industrial facilities by exploiting contributions from both physical and physiological signals. Improved human-machine collaboration could prove useful in several areas, while it is crucial for interacting robots to understand human movement as soon as possible to avoid accidents and injuries. In this perspective, we propose a novel human-robot interface capable to anticipate the user intention while performing reaching movements on a working bench in order to plan the action of a collaborative robot. The proposed interface can find many applications in the Industry 4.0 framework, where autonomous and collaborative robots will be an essential part of innovative facilities. A motion intention prediction and a motion direction prediction levels have been developed to improve detection speed and accuracy. A Gaussian Mixture Model (GMM) has been trained with IMU and EMG data following an evidence accumulation approach to predict reaching direction. Novel dynamic stopping criteria have been proposed to flexibly adjust the trade-off between early anticipation and accuracy according to the application. The output of the two predictors has been used as external inputs to a Finite State Machine (FSM) to control the behaviour of a physical robot according to user's action or inaction. Results show that our system outperforms previous methods, achieving a real-time classification accuracy of @math after @math from movement onset.
In our work, the system exploits the information registered through a pair of Myo armbands, by Thalmic Labs, that enables simultaneous acquisition of kinematic and muscle activity information, at a very affordable cost. This device has already shown good acceptability in healthcare environments @cite_25 . However, few attempts have been made to introduce it in industrial environments @cite_22 . In the following, we will take into consideration the Myo multi-modal interface in combination with confidence-based criteria for dynamic stopping for early predictions of human motion in cooperative industrial tasks, while measuring feasibility and efficiency of the proposed methods.
@cite_22 @cite_25
2564917287 2762706434 2339176273 1980481605
This paper presents a novel approach for human-robot cooperation in tasks with dynamic uncertainties. The essential element of the proposed method is a multi-modal interface that provides the robot with the feedback about the human motor behaviour in real-time. The human muscle activity measurements and the arm force manipulability properties encode the information about the motion and impedance, and the intended configuration of the task frame, respectively. Through this human-in-the-loop framework, the developed hybrid controller of the robot can adapt its actions to provide the desired motion and impedance regulation in different phases of the cooperative task. We experimentally evaluate the proposed approach in a two-person sawing task that requires an appropriate complementary behaviour from the two agents. Hand prostheses controlled by surface electromyography are promising due to the non-invasive approach and the control capabilities offered by machine learning. Nevertheless, dexterous prostheses are still scarcely spread due to control difficulties, low robustness and often prohibitive costs. Several sEMG acquisition setups are now available, ranging in terms of costs between a few hundred and several thousand dollars. The objective of this paper is the relative comparison of six acquisition setups on an identical hand movement classification task, in order to help the researchers to choose the proper acquisition setup for their requirements. The acquisition setups are based on four different sEMG electrodes (including Otto Bock, Delsys Trigno, Cometa Wave + Dormo ECG and two Thalmic Myo armbands) and they were used to record more than 50 hand movements from intact subjects with a standardized acquisition protocol. The relative performance of the six sEMG acquisition setups is compared on 41 identical hand movements with a standardized feature extraction and data analysis pipeline aimed at performing hand movement classification. Comparable classification results are obtained with three acquisition setups including the Delsys Trigno, the Cometa Wave and the affordable setup composed of two Myo armbands. The results suggest that practical sEMG tests can be performed even when costs are relevant (e.g. in small laboratories, developing countries or use by children). All the presented datasets can be used for offline tests and their quality can easily be compared as the data sets are publicly available. Physical rehabilitation supported by the computer-assisted-interface is gaining popularity among health-care fraternity. In this paper, we have proposed a computer-vision-assisted contactless methodology to facilitate palm and finger rehabilitation. Leap motion controller has been interfaced with a computing device to record parameters describing 3-D movements of the palm of a user undergoing rehabilitation. We have proposed an interface using Unity3D development platform. Our interface is capable of analyzing intermediate steps of rehabilitation without the help of an expert, and it can provide online feedback to the user. Isolated gestures are classified using linear discriminant analysis (DA) and support vector machines (SVM). Finally, a set of discrete hidden Markov models (HMM) have been used to classify gesture sequence performed during rehabilitation. Experimental validation using a large number of samples collected from healthy volunteers reveals that DA and SVM perform similarly while applied on isolated gesture recognition. We have compared the results of HMM-based sequence classification with CRF-based techniques. Our results confirm that both HMM and CRF perform quite similarly when tested on gesture sequences. The proposed system can be used for home-based palm or finger rehabilitation in the absence of experts. The rapid deployment of sensing technology in smartphones and the explosion of their usage in people's daily lives provide users with the ability to collectively sense the world. This leads to a growing trend of mobile healthcare systems utilizing sensing data collected from smartphones with without additional external sensors to analyze and understand people's physical and mental states. However, such healthcare systems are vulnerable to user spoofing attacks, in which an adversary distributes his registered device to other users such that data collected from these users can be claimed as his own to obtain more healthcare benefits and undermine the successful operation of mobile healthcare systems. Existing mitigation approaches either only rely on a secret PIN number (which can not deal with colluded attacks) or require an explicit user action for verification. In this paper, we propose a user verification scheme leveraging unique gait patterns derived from acceleration readings in mobile healthcare systems to detect possible user spoofing attacks. Our framework exploits the readily available accelerometers embedded within smartphones for user verification. Specifically, our user spoofing attack mitigation scheme (which consists of three components, namely Step Cycle Identification, Step Cycle Interpolation, and Similarity Score Computation) is used to extract gait patterns from run-time accelerometer measurements to perform robust user verification under various walking speeds. Our experiments using 322 smartphone-based traces over a period of 6 months confirm that our scheme is highly effective for detecting user spoofing attacks. This strongly indicates the feasibility of using smartphone based low grade accelerometer to conduct gait recognition and facilitate effective user verification without active user cooperation.