Abstract-Gesture recognition has multiple applications in medical and engineering fields. The problem of hand gesture recognition consists of identifying, at any moment, a given gesture performed by the hand. In this work, we propose a new model for hand gesture recognition in real time. The input of this model is the surface electromyography measured by the commercial sensor the Myo armband placed on the forearm. The output is the label of the gesture executed by the user at any time. The proposed model is based on the k-nearest neighbor and dynamic time warping algorithms. This model can learn to recognize any gesture of the hand. To evaluate the performance of our model, we measured and compared its accuracy at recognizing 5 classes of gestures to the accuracy of the proprietary system of the Myo armband. As a result of this evaluation, we determined that our model performs better (86% accurate) than the Myo system (83%).
This work presents the kinematic and dynamic modeling of a human–wheelchair system which considers that its center of mass is not located in the middle of the wheel’s axle. Furthermore, a novel motion controller is presented for a human–wheelchair system, which is capable of performing positioning and path-following tasks in human-shared environments. This controller design is based on two cascaded subsystems: a kinematic controller, and a dynamic controller that compensates the dynamics of the human–wheelchair system. Additionally, an algorithm based on fuzzy-logic is proposed and incorporated in the aforementioned path-following control for pedestrian collision avoidance. This methodology considers to quantify heuristics social rules to make a balance between modulating velocity or direction during the avoidance. Three different interference cases, commonly found during walking events, are tested in a structured scenario. The experimental results demonstrate that the system is capable of overcoming many usual interference situations with human obstacles. A good performance of the path-following control is also verified.
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