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Comparison of Trajectory Generation Methods for a Human-Robot Interface based on Motion Tracking in the Int²Bot

Schültje, F. and Beckerle, Philipp and Grimmer, M. and Wojtusch, J. and Rinderknecht, Stephan (2014):
Comparison of Trajectory Generation Methods for a Human-Robot Interface based on Motion Tracking in the Int²Bot.
In: Proceedings of IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), In: IEEE International Symposium on Robot and Human Interactive Communication, Edinburgh, Schottland, 25. – 29. August 2014, [Conference or Workshop Item]

Abstract

The acceptance of artificial devices like prostheses or other wearable robots requires their integration into the body schemas of the users. Different factors induce, influence and support the integration and acceptance of the device that substitutes or augments a part of the body. Previous studies have shown that the inducing and maintaining factors are visual, tactile and proprioceptive informations as well as their multi- sensory integration. This paper describes the vision-based part of the human-robot interface in the Int 2 Bot, which is a robot for the investigation of lower limb body schema integration during postural movements. The psychological approach and the technical setup of the robot, which is designed to imitate postural movements in the sagittal plane to imitate the human subject while performing squats, are outlined. To realize the imitation, an RGB-D sensor, in form of a Microsoft Kinect, is used to capture the subjects motions without contact and thereby avoid disturbances of body schema integration. For generation of the desired joint trajectories to be tracked by the control algorithm, different methods like an extended Kalman filter, inverse kinematics, an inverse kinematics algorithm us- ing Jacobian transpose and approaches based on kinematic assumptions are presented, evaluated and compared based on human data. Benchmarking the results with data acquired using a professional motion capturing system shows that best overall joint angle estimations are achieved with the extended Kalman filter. Finally, the practical implementation within the robot is presented and the tracking behavior using the trajectories generated with the extended Kalman filter are analyzed.

Item Type: Conference or Workshop Item
Erschienen: 2014
Creators: Schültje, F. and Beckerle, Philipp and Grimmer, M. and Wojtusch, J. and Rinderknecht, Stephan
Title: Comparison of Trajectory Generation Methods for a Human-Robot Interface based on Motion Tracking in the Int²Bot
Language: English
Abstract:

The acceptance of artificial devices like prostheses or other wearable robots requires their integration into the body schemas of the users. Different factors induce, influence and support the integration and acceptance of the device that substitutes or augments a part of the body. Previous studies have shown that the inducing and maintaining factors are visual, tactile and proprioceptive informations as well as their multi- sensory integration. This paper describes the vision-based part of the human-robot interface in the Int 2 Bot, which is a robot for the investigation of lower limb body schema integration during postural movements. The psychological approach and the technical setup of the robot, which is designed to imitate postural movements in the sagittal plane to imitate the human subject while performing squats, are outlined. To realize the imitation, an RGB-D sensor, in form of a Microsoft Kinect, is used to capture the subjects motions without contact and thereby avoid disturbances of body schema integration. For generation of the desired joint trajectories to be tracked by the control algorithm, different methods like an extended Kalman filter, inverse kinematics, an inverse kinematics algorithm us- ing Jacobian transpose and approaches based on kinematic assumptions are presented, evaluated and compared based on human data. Benchmarking the results with data acquired using a professional motion capturing system shows that best overall joint angle estimations are achieved with the extended Kalman filter. Finally, the practical implementation within the robot is presented and the tracking behavior using the trajectories generated with the extended Kalman filter are analyzed.

Title of Book: Proceedings of IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)
Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute for Mechatronic Systems in Mechanical Engineering (IMS)
20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Interdisziplinäre Forschungsprojekte
Zentrale Einrichtungen
Interdisziplinäre Forschungsprojekte > Forschungsprojekte Prothetik
Event Title: IEEE International Symposium on Robot and Human Interactive Communication
Event Location: Edinburgh, Schottland
Event Dates: 25. – 29. August 2014
Date Deposited: 04 Sep 2014 16:39
Identification Number: SchueltjeRO-MAN:2014
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