Reference Trajectory Adaptation to Improve Human-Robot Interaction: A Database-Driven Approach
- Conference Paper
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 databasedriven 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. Show more
Book titleProceedings of the 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2018)
Pages / Article No.
Organisational unit03654 - Riener, Robert / Riener, Robert
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