Gaussian process learning and interpolation of gait motion for rehabilitation robots

Changmook Chun, Seung-Jong Kim, Jisoo Hong, Frank C. Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

We present an alternative approach to generate gait motion at arbitrary speed for gait rehabilitation robots. The methodology utilizes Gaussian process dynamical model (GPDM), which is a nonlinear dimensionality reduction technique. GPDM consists of a dynamics in low-dimensional latent space and a mapping from the space to configuration space, and GPDM learning results in the low-dimensional representation of training data and parameters for the dynamics and mapping. We use second-order Markov process dynamics model, and hence given a pair of initial points, the dynamics generates a latent trajectory at arbitrary speed. We use linear regression to obtain the initial points. Mapping from the latent to configuration spaces constructs trajectories of walking motion. We verify the algorithm with motion capture data from 50 healthy subjects, who walked on a treadmill at 1, 2, and 3 km/h. We show examples and compare the original and interpolated trajectories to prove the efficacy of the algorithm.

Original languageEnglish
Title of host publicationICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications
EditorsDonald Bailey, Serge Demidenko, G. Sen Gupta
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages198-203
Number of pages6
ISBN (Electronic)9781479964666
DOIs
Publication statusPublished - 2015 Apr 6
Externally publishedYes
Event6th International Conference on Automation, Robotics and Applications, ICARA 2015 - Queenstown, New Zealand
Duration: 2015 Feb 172015 Feb 19

Publication series

NameICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications

Conference

Conference6th International Conference on Automation, Robotics and Applications, ICARA 2015
CountryNew Zealand
CityQueenstown
Period15/2/1715/2/19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Chun, C., Kim, S-J., Hong, J., & Park, F. C. (2015). Gaussian process learning and interpolation of gait motion for rehabilitation robots. In D. Bailey, S. Demidenko, & G. S. Gupta (Eds.), ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications (pp. 198-203). [7081147] (ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARA.2015.7081147