Motion Prediction of Human Wearing Powered Exoskeleton
Joint Authors
Jin, Xin
Guo, Jia
Li, Zhong
Wang, Ruihao
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-12-22
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
With the development of powered exoskeleton in recent years, one important limitation is the capability of collaborating with human.
Human-machine interaction requires the exoskeleton to accurately predict the human motion of the upcoming movement.
Many recent works implement neural network algorithms such as recurrent neural networks (RNN) in motion prediction.
However, they are still insufficient in efficiency and accuracy.
In this paper, a Gaussian process latent variable model (GPLVM) is employed to transform the high-dimensional data into low-dimensional data.
Combining with the nonlinear autoregressive (NAR) neural network, the GPLVM-NAR method is proposed to predict human motions.
Experiments with volunteers wearing powered exoskeleton performing different types of motion are conducted.
Results validate that the proposed method can forecast the future human motion with relative error of 2%∼5% and average calculation time of 120 s∼155 s, depending on the type of different motions.
American Psychological Association (APA)
Jin, Xin& Guo, Jia& Li, Zhong& Wang, Ruihao. 2020. Motion Prediction of Human Wearing Powered Exoskeleton. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-8.
https://search.emarefa.net/detail/BIM-1201878
Modern Language Association (MLA)
Jin, Xin…[et al.]. Motion Prediction of Human Wearing Powered Exoskeleton. Mathematical Problems in Engineering No. 2020 (2020), pp.1-8.
https://search.emarefa.net/detail/BIM-1201878
American Medical Association (AMA)
Jin, Xin& Guo, Jia& Li, Zhong& Wang, Ruihao. Motion Prediction of Human Wearing Powered Exoskeleton. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-8.
https://search.emarefa.net/detail/BIM-1201878
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1201878