Human Learning and Coordination in Lower-limb Physical Interactions

Amatya, Sunny; Sorkhabadi, Seyed Mostafa Rezayat; Zhang, Wenlong

doi:10.23919/acc45564.2020.9147738

Cited by 3 publications

(3 citation statements)

References 19 publications

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“…Gait-related assistance and rehabilitation with exoskeletons is a very common application of DMPs, and there are numerous examples (Abu-Dakka et al, 2015; Amatya et al, 2020; Escarabajal et al, 2023; Huang et al, 2016a; Hwang et al, 2019, 2021; Schaal, 2006; Yuan et al, 2020; Zou et al, 2021). In Abu-Dakka et al, 2015, 2020), a parallel robot was used for ankle rehabilitation, where the movements were generated by DMPs (Figure 20).…”

Section: Dmps In Application Scenariosmentioning

confidence: 99%

Dynamic movement primitives in robotics: A tutorial survey

Saveriano,

Abu-Dakka,

Kramberger

et al. 2023

The International Journal of Robotics Research

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Biological systems, including human beings, have the innate ability to perform complex tasks in a versatile and agile manner. Researchers in sensorimotor control have aimed to comprehend and formally define this innate characteristic. The idea, supported by several experimental findings, that biological systems are able to combine and adapt basic units of motion into complex tasks finally leads to the formulation of the motor primitives’ theory. In this respect, Dynamic Movement Primitives (DMPs) represent an elegant mathematical formulation of the motor primitives as stable dynamical systems and are well suited to generate motor commands for artificial systems like robots. In the last decades, DMPs have inspired researchers in different robotic fields including imitation and reinforcement learning, optimal control, physical interaction, and human–robot co-working, resulting in a considerable amount of published papers. The goal of this tutorial survey is two-fold. On one side, we present the existing DMP formulations in rigorous mathematical terms and discuss the advantages and limitations of each approach as well as practical implementation details. In the tutorial vein, we also search for existing implementations of presented approaches and release several others. On the other side, we provide a systematic and comprehensive review of existing literature and categorize state-of-the-art work on DMP. The paper concludes with a discussion on the limitations of DMPs and an outline of possible research directions.

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Section: Dmps In Application Scenariosmentioning

confidence: 99%

Dynamic movement primitives in robotics: A tutorial survey

Saveriano,

Abu-Dakka,

Kramberger

et al. 2023

The International Journal of Robotics Research

View full text Add to dashboard Cite

show abstract

“…Gait related rehabilitation with exoskeletons is a very common application of DMPs and there are numerous examples (Abu-Dakka et al 2015b;Huang et al 2016a,b;Hwang et al 2019;Yuan et al 2020;Amatya et al 2020). In (Abu-Dakka et al 2015b a parallel robot was used for ankle rehabilitation, where the movements were generated by DMPs (Fig.…”

Section: Human Assistance Augmentation and Rehabilitationmentioning

confidence: 99%

Dynamic Movement Primitives in Robotics: A Tutorial Survey

Saveriano¹,

Abu‐Dakka²,

Kramberger³

et al. 2021

Preprint

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Biological systems, including human beings, have the innate ability to perform complex tasks in versatile and agile manner. Researchers in sensorimotor control have tried to understand and formally define this innate property. The idea, supported by several experimental findings, that biological systems are able to combine and adapt basic units of motion into complex tasks finally lead to the formulation of the motor primitives theory. In this respect, Dynamic Movement Primitives (DMPs) represent an elegant mathematical formulation of the motor primitives as stable dynamical systems, and are well suited to generate motor commands for artificial systems like robots. In the last decades, Dynamic Movement Primitives (DMPs) have inspired researchers in different robotic fields including imitation and reinforcement learning, optimal control, physical interaction, and human-robot co-working, resulting a considerable amount of published papers. The goal of this tutorial survey is two-fold. On one side, we present the existing DMPs formulations in rigorous mathematical terms, and discuss advantages and limitations of each approach as well as practical implementation details. In the tutorial vein, we also search for existing implementations of presented approaches and release several others. On the other side, we provide a systematic and comprehensive review of existing literature and categorize state of the art work on DMP. The paper concludes with a discussion on the limitations of DMPs and an outline of possible research directions.

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“…The consummate walking kinematics model of human can provide theoretical guidance for gait planning of biped walking robot and lower limb dynamic exoskeleton, thus ensuring the robot obtain stable gait. The kinematic analysis of walking for the handicapped groups including hemiplegia and the design of the training track that conforms to their gait law is of great significance for the patients to recover their normal walking ability (Amatya, Sorkhabadi, & Wenlong, 2020;Liu, 2010;Wang, Yin, Yang, & Wang, 2018). Besides, the motion law originated from walking kinematic model is widely used in virtual human animation simulation (Cirio, Olivier, Marchal, & Pettre, 2013), human-machine interaction (Cifuentes, Bayon, Lerma, Frizera, & Rocon, 2016) and other fields.…”

Section: Introductionmentioning

confidence: 99%

The Human walking kinematic model combined with upper and lower limb movement

Chen¹,

Hong

Lin³

et al. 2021

Preprint

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The purpose of this study is to build a relatively complete human walking kinematic model. This model is combined with the rolling-foot model (lower limb) and multi-rod swinging model (upper limb) connected by COM. We calculated the velocity of COM and other critical joints of the upper limb by marker point capture experiment using the high-speed camera. This research shows that the hand joint velocity measured through the experiment can achieve high coincidence with that calculated by the theoretical model given specific inputs. Moreover, the common pattern of upper limb angles is also studied for an accurate description. The proposed kinematic model is expected to forecast desired motion intention for better compliance by the rehabilitation and assistive robots.

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Human Learning and Coordination in Lower-limb Physical Interactions

Cited by 3 publications

References 19 publications

Dynamic movement primitives in robotics: A tutorial survey

Dynamic movement primitives in robotics: A tutorial survey

Dynamic Movement Primitives in Robotics: A Tutorial Survey

The Human walking kinematic model combined with upper and lower limb movement

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