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Segmenting humeral submovements using invariant geometric signatures
Högskolan i Gävle, Akademin för teknik och miljö, Avdelningen för elektronik, matematik och naturvetenskap, Elektronik. Robotics, Perception and Learning, School of Computer Science and Communication, KTH - Royal Institute of Technology, Stockholm, Sweden.ORCID-id: 0000-0002-5970-2985
Högskolan i Gävle, Akademin för teknik och miljö, Avdelningen för elektronik, matematik och naturvetenskap, Elektronik.ORCID-id: 0000-0001-5429-7223
Robotics, Perception and Learning, School of Computer Science and Communication, KTH - Royal Institute of Technology, Stockholm, Sweden.ORCID-id: 0000-0003-2078-8854
2017 (engelsk)Inngår i: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (Iros) / [ed] Bicchi, A., Okamura, A., IEEE, 2017, s. 6951-6958, artikkel-id 8206619Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Discrete submovements are the building blocks of any complex movement. When robots collaborate with humans, extraction of such submovements can bevery helpful in applications such as robot-assisted rehabilitation. Our work aims to segment these submovements based on the invariant geometric information embedded in segment kinematics. Moreover, this segmentation is achieved without any explicit kinematic representation.Our work demonstrates the usefulness of this invariant framework in segmenting a variety of humeral movements, which are performed at different speeds across different subjects. Our results indicate that this invariant framework has high computational reliability despite the inherent variability in human motion.

sted, utgiver, år, opplag, sider
IEEE, 2017. s. 6951-6958, artikkel-id 8206619
Serie
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Emneord [en]
Kinematics, Human Movement Understanding, Human-centric Robotics
HSV kategori
Forskningsprogram
Intelligent industri; Hälsofrämjande arbete
Identifikatorer
URN: urn:nbn:se:hig:diva-25214DOI: 10.1109/IROS.2017.8206619ISI: 000426978206070Scopus ID: 2-s2.0-85041961221ISBN: 978-1-5386-2682-5 (digital)ISBN: 978-1-5386-2681-8 (digital)OAI: oai:DiVA.org:hig-25214DiVA, id: diva2:1140530
Konferanse
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), 24–28 September 2017, Vancouver, Canada
Prosjekter
(AAL Call) AXO-SUIT project
Ingår i projekt
Assistive exoskeleton suitable for elderly persons, Vinnova, University of Gävle
Forskningsfinansiär
Vinnova, 2014-05953Tilgjengelig fra: 2017-09-12 Laget: 2017-09-12 Sist oppdatert: 2023-02-17bibliografisk kontrollert

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Krishnan, RakeshBjörsell, NiclasSmith, Christian

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