Open AccessParticle Filters vs Hidden Markov Models for Prosthetic Robot Hand Grasp Selection
Author(s) -
Mohammadreza Sharif
Publication year - 2019
Publication title -
international journal of robotic computing
Language(s) - English
Resource type - Journals
ISSN - 2641-9521
DOI - 10.35708/rc1868-126253
Subject(s) - hidden markov model , inference , computer science , grasp , particle filter , artificial intelligence , gesture , trajectory , probabilistic logic , robot , machine learning , hidden variable theory , process (computing) , object (grammar) , selection (genetic algorithm) , kalman filter , physics , operating system , quantum mechanics , astronomy , quantum , programming language
Robotic prosthetic hands are commonly controlled using electromyography (EMG) signals as a means of inferring user intention. However, relying on EMG signals alone, although provides very good results in lab settings, is not sufficiently robust to real-life conditions. For this reason, taking advantage of other contextual clues are proposed in previous works. In this work, we propose a method for intention inference based on particle filtering (PF) based on user hand's trajectory information. Our methodology, also provides an estimate of time-to-arrive, i.e. time left until reaching to the object, which is an essential variable in successful grasping of objects. The proposed probabilistic framework can incorporate available sources of information to improve the inference process. We also provide a data-driven method based on hidden Markov model (HMM) as a baseline for intention inference. HMM is widely used for human gesture classification. The algorithms were tested (and trained) with regards to 160 reaching trajectories collected from 10 subjects reaching to one of four objects at a time.