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Reliably Segmenting Motion Reversals of a Rigid-IMU Cluster Using Screw-Based Invariants
University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.ORCID iD: 0000-0002-5970-2985
KTH, Stockholm, Sweden.
KTH, Stockholm, Sweden.
University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.ORCID iD: 0000-0001-5429-7223
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2019 (English)In: 2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2019, p. 88-95, article id 8624969Conference paper, Oral presentation with published abstract (Refereed)
Abstract [en]

Human-robot interaction (HRI) is moving towards the human-robot synchronization challenge. In robots like exoskeletons, this challenge translates to the reliable motion segmentation problem using wearable devices. Therefore, our paper explores the possibility of segmenting the motion reversals of a rigid-IMU cluster using screw-based invariants. Moreover, we evaluate the reliability of this framework with regard to the sensor placement, speed and type of motion. Overall, our results show that the screw-based invariants can reliably segment the motion reversals of a rigid-IMU cluster.

Place, publisher, year, edition, pages
2019. p. 88-95, article id 8624969
Series
IEEE-RAS International Conference on Humanoid Robots
Keywords [en]
Humanoid kinematics, Medical, health and mental care, Prostheses & Ortheses
National Category
Robotics
Identifiers
URN: urn:nbn:se:hig:diva-28724DOI: 10.1109/HUMANOIDS.2018.8624969ISI: 000458689700013Scopus ID: 2-s2.0-85062299962OAI: oai:DiVA.org:hig-28724DiVA, id: diva2:1266969
Conference
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 06-09 November 2018, Beijing, China
Projects
FACT
Funder
Swedish Foundation for Strategic Research , GMT14-0082
Note

Funding agencies:

- Royal Melbourne Institute of Technology

- Active and Assisted Living programme at KTH

Available from: 2018-11-30 Created: 2018-11-30 Last updated: 2019-09-05Bibliographically approved

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Krishnan, RakeshBjörsell, Niclas

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