정보과학회 논문지 (Journal of KIISE)

  • 제42권12호
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  • Pages.1544-1550
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  • 2015
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  • 2383-630X(pISSN)
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  • 2383-6296(eISSN)
한국정보과학회 (Korean Institute of Information Scientists and Engineers)
권호 표지
DOI QR코드

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웨어러블 로봇 인터페이스를 위한 회귀 기법 기반 손목 움직임 추정

Estimation of Wrist Movements based on a Regression Technique for Wearable Robot Interfaces

  • 투고 : 2015.07.22
  • 심사 : 2015.09.23
  • 발행 : 2015.12.15
⟨ 이전 논문 다음 논문 ⟩

초록

최근 웨어러블 로봇에 활용이 가능한 실용적인 웨어러블 로봇 인터페이스 개발이 활발하게 이루어지고 있다. 본 논문은 인간의 생체신호 중 근전도를 활용하여, 회귀 기법 기반 연속적인 손목 움직임 의도 추정 방법을 제안한다. 실생활에서 사용자의 상지 자세 변화는 근전도 신호를 변조시켜 성능 저하의 주요한 원인이 되는데, 이를 해결하기 위해 서로 다른 상지 자세에서 학습된 회귀 기법 기반 움직임 추정모델을 통합함으로써 상지 자세 변화에도 강인한 연속적인 손목 움직임 의도 추정 방법을 제안한다. 실험결과에서 서로 다른 상지 자세에서 손목 움직임 의도를 추정하였을 때 제안 방법의 성능이 기존 방법보다 우수함을 확인하였다.

Recently, the development of practical wearable robot interfaces has resulted in the emergence of wearable robots such as arm prosthetics or lower-limb exoskeletons. In this paper, we propose a novel method of wrist movement intention estimation based on a regression technique using electromyography of human bio-signals. In daily life, changes in user arm position changes cause decreases in performance by modulating EMG signals. Therefore, we propose an estimation method for robust wrist movement intention for arm position changes, combining several movement intention models based on the regression technique trained by different arm positions. In our experimental results, our method estimates wrist movement intention more accurately than previous methods.

키워드

참고문헌

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