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dc.contributor.author
Haufe, Florian
dc.contributor.author
Maggioni, Serena
dc.contributor.author
Melendez-Calderon, Alejandro
dc.date.accessioned
2021-01-11T10:48:47Z
dc.date.available
2018-11-07T08:25:56Z
dc.date.available
2018-11-07T09:46:17Z
dc.date.available
2018-12-04T15:28:38Z
dc.date.available
2021-01-11T10:48:47Z
dc.date.issued
2018
dc.identifier.isbn
978-1-5386-3646-6
en_US
dc.identifier.other
10.1109/EMBC.2018.8512604
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/301604
dc.description.abstract
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.
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.title
Reference Trajectory Adaptation to Improve Human-Robot Interaction: A Database-Driven Approach
en_US
dc.type
Conference Paper
dc.date.published
2018-10-29
ethz.book.title
Proceedings of the 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2018)
en_US
ethz.pages.start
1727
en_US
ethz.pages.end
1730
en_US
ethz.event
40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2018)
en_US
ethz.event.location
Honolulu, HI, USA
en_US
ethz.event.date
July 18-21, 2018
en_US
ethz.identifier.scopus
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02070 - Dep. Gesundheitswiss. und Technologie / Dep. of Health Sciences and Technology::03654 - Riener, Robert / Riener, Robert
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02070 - Dep. Gesundheitswiss. und Technologie / Dep. of Health Sciences and Technology::03654 - Riener, Robert / Riener, Robert
en_US
ethz.date.deposited
2018-11-07T08:26:03Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2018-12-04T15:28:44Z
ethz.rosetta.lastUpdated
2021-02-15T23:05:54Z
ethz.rosetta.versionExported
true
ethz.COinS
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