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Towards the Quantification of Human-Robot Imitation Using Wearable Inertial Sensors

Published: 06 March 2017 Publication History

Abstract

In this study, we propose a metric in order to quantify how closely a healthy participant imitates a robot, for which we use inertial sensors attached to both individual participant and to a humanoid-robot. For the experiment, twelve healthy participants were invited to perform simple arm movements in order to apply the state space reconstruction which is based on the method of time-delay embedding and PCA. Although the performed arm movements of the healthy participants were very simple, the study reveals that the participants showed different ranges of the proposed metric that can be linked to the level of imitation. Such a metric can be improved in order to determine a detailed scoring of human-robot imitation during training or rehabilitation activities.

References

[1]
D. Comotti, M. Galizzi, and A. Vitali. NeMEMSi: One step forward in wireless attitude and heading reference systems. 1st IEEE International Symposium on Inertial Sensors and Systems, pages 1--4, 2014.
[2]
J. F. Gibson, J. D. Farmer, M. Casdagli, and S. Eubank. An analytic approach to practical state space reconstruction. Physica D: Nonlinear Phenomena, 57(1):1 -- 30, 1992.
[3]
B. Gorer, A. A. Salah, and H. L. Akin. An autonomous robotic exercise tutor for elderly people. Autonomous Robots, (July), 2016.
[4]
A. Guneysu and B. Arnrich. Children's Rehabilitation with Humanoid Robots and Wearable Inertial Measurement Units. In 9th IEEE International Conference on Pervasive Computing Technologies for Healthcare, pages 7--10, 2015.

Cited By

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  • (2023)Not Only WEIRD but “Uncanny”? A Systematic Review of Diversity in Human–Robot Interaction ResearchInternational Journal of Social Robotics10.1007/s12369-023-00968-415:11(1841-1870)Online publication date: 8-Mar-2023
  • (2017)Towards the Analysis of Movement Variability in Human-Humanoid Imitation ActivitiesProceedings of the 5th International Conference on Human Agent Interaction10.1145/3125739.3132595(371-374)Online publication date: 17-Oct-2017

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  1. Towards the Quantification of Human-Robot Imitation Using Wearable Inertial Sensors

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      cover image ACM Conferences
      HRI '17: Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction
      March 2017
      462 pages
      ISBN:9781450348850
      DOI:10.1145/3029798
      Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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      Association for Computing Machinery

      New York, NY, United States

      Publication History

      Published: 06 March 2017

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      Author Tags

      1. human-robot imitation
      2. movement variability
      3. non-linear dynamics
      4. state space reconstruction
      5. wearable inertial sensors

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      • Consejo Nacional de Ciencia y Tecnologa (CONACYT)

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      Acceptance Rates

      HRI '17 Paper Acceptance Rate 51 of 211 submissions, 24%;
      Overall Acceptance Rate 192 of 519 submissions, 37%

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      HRI '25
      ACM/IEEE International Conference on Human-Robot Interaction
      March 4 - 6, 2025
      Melbourne , VIC , Australia

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      Cited By

      View all
      • (2023)Not Only WEIRD but “Uncanny”? A Systematic Review of Diversity in Human–Robot Interaction ResearchInternational Journal of Social Robotics10.1007/s12369-023-00968-415:11(1841-1870)Online publication date: 8-Mar-2023
      • (2017)Towards the Analysis of Movement Variability in Human-Humanoid Imitation ActivitiesProceedings of the 5th International Conference on Human Agent Interaction10.1145/3125739.3132595(371-374)Online publication date: 17-Oct-2017

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