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|Title:||Neural-network-based human intention estimation for physical human-robot interaction|
|Authors:||Ge, S.S. |
|Keywords:||Motion intention estimation|
physical human-robot interaction
|Source:||Ge, S.S.,Li, Y.,He, H. (2011). Neural-network-based human intention estimation for physical human-robot interaction. URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence : 390-395. ScholarBank@NUS Repository. https://doi.org/10.1109/URAI.2011.6145849|
|Abstract:||To realize physical human-robot interaction, it is essential for the robot to understand the motion intention of its human partner. In this paper, human motion intention is defined as the desired trajectory in human limb model, of which the estimation is obtained based on neural network. The proposed method employs measured interaction force, position and velocity at the interaction point. The estimated human motion intention is integrated to the control design of the robot arm. The validity of the proposed method is verified through simulation. © 2011 IEEE.|
|Source Title:||URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence|
|Appears in Collections:||Staff Publications|
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