Exploiting upper-limb functional principal components for human-like motion generation of anthropomorphic robots.
Journal:
Journal of neuroengineering and rehabilitation
Published Date:
May 13, 2020
Abstract
BACKGROUND: Human-likeliness of robot movements is a key component to enable a safe and effective human-robot interaction, since it contributes to increase acceptance and motion predictability of robots that have to closely interact with people, e.g. for assistance and rehabilitation purposes. Several parameters have been used to quantify how much a robot behaves like a human, which encompass aspects related to both the robot appearance and motion. The latter point is fundamental to allow the operator to interpret robotic actions, and plan a meaningful reactions. While different approaches have been presented in literature, which aim at devising bio-aware control guidelines, a direct implementation of human actions for robot planning is not straightforward, still representing an open issue in robotics.