Quantitative human and robot motion comparison for enabling assistive device evaluation

Dana Kulić, Muhammad Choudry, Gentiane Venture, Kanako Miura, Eiichi Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearch

2 Citations (Scopus)

Abstract

A promising new application area for humanoid robots is in the area of assistive device testing. Humanoid robots can facilitate the experimental evaluation of assistive devices by providing repeatable, measurable, human-like motion while removing the difficulties and potential safety hazards associated with human trials. To ensure that the humanoid robot is providing a valid test platform, the robot must move in a similar way as a human while wearing the assistive device. This challenge is made difficult due to the inherent variability in human motion. In this paper, we propose an approach for a quantitative comparison between human and robot motion that identifies both the difference magnitude and the difference location, and explicitly handles both spatial and temporal variability of human motion. The proposed approach is demonstrated on data from robot gait and sagittal plane lifting.

Original languageEnglish
Title of host publication2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2013)
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages196-202
Number of pages7
ISBN (Print)9781479926206
DOIs
Publication statusPublished - 2013
Externally publishedYes
EventIEEE-RAS International Conference on Humanoid Robots 2013 - Atlanta, United States of America
Duration: 15 Oct 201317 Oct 2013
Conference number: 13th

Conference

ConferenceIEEE-RAS International Conference on Humanoid Robots 2013
Abbreviated titleHumanoids 2013
CountryUnited States of America
CityAtlanta
Period15/10/1317/10/13

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