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Generating Shared Latent Variables for Robots to Imitate Human Movements and Understand their Physical Limitations
Abstract : Assistive robotics and particularly robot coaches may be very helpful for rehabilitation healthcare. In this context, we propose a method based on Gaussian Process Latent Variable Model (GP-LVM) to transfer knowledge between a physiotherapist, a robot coach and a patient. Our model is able to map visual human body features to robot data in order to facilitate the robot learning and imitation. In addition , we propose to extend the model to adapt robots' understanding to patient's physical limitations during the assessment of rehabilitation exercises. Experimental evaluation demonstrates promising results for both robot imitation and model adaptation according to the patients' limitations.
Cited literature [29 references]
https://hal-imt-atlantique.archives-ouvertes.fr/hal-01891414
Contributor : Sao Mai Nguyen Connect in order to contact the contributor
Submitted on : Tuesday, July 2, 2019 - 5:58:07 PM
Last modification on : Monday, October 11, 2021 - 2:23:51 PM
Contributor : Sao Mai Nguyen Connect in order to contact the contributor
Submitted on : Tuesday, July 2, 2019 - 5:58:07 PM
Last modification on : Monday, October 11, 2021 - 2:23:51 PM
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