Human intention recognition for robot walking helper using ANFIS

Yi Che Huang; Hsiang Ping Yang; Chun Hsu Ko; Kuu-Young Young

Human intention recognition for robot walking helper using ANFIS

Yi Che Huang^*, Hsiang Ping Yang, Chun Hsu Ko, Kuu-Young Young

^*Corresponding author for this work

Department of Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

11 Scopus citations

Abstract

In this paper, upon a passive robot walking helper developed in our laboratory, referred to as i-go, we attach the force-sensing grips to its two handles, which are used to effectively recognize the intention of the user. We use the Lasso model for user intention recognition, so that we can infer the relationship between the user' intention and measured pushing-pulling force. We also use the PCA algorithm to obtain the weighting for each intention. With the intention weighting identified, we then propose a fuzzy controller to generate proper braking force for i-go. In addition, to adapt to different users, we apply the ANFIS to tune the parameters of the fuzzy controller to achieve more accurate assistance.

Original language	English
Title of host publication	ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
Pages	311-316
Number of pages	6
State	Published - 29 Aug 2011
Event	8th Asian Control Conference, ASCC 2011 - Kaohsiung, Taiwan Duration: 15 May 2011 → 18 May 2011

Publication series

Name	ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings

Conference

Conference	8th Asian Control Conference, ASCC 2011
Country/Territory	Taiwan
City	Kaohsiung
Period	15/05/11 → 18/05/11

Keywords

ANFIS
Force-Sensing Grip
Human Intention
Robot Walking Helper

Cite this

@inproceedings{6145e35a94814f779025f58918d31f5b,

title = "Human intention recognition for robot walking helper using ANFIS",

abstract = "In this paper, upon a passive robot walking helper developed in our laboratory, referred to as i-go, we attach the force-sensing grips to its two handles, which are used to effectively recognize the intention of the user. We use the Lasso model for user intention recognition, so that we can infer the relationship between the user' intention and measured pushing-pulling force. We also use the PCA algorithm to obtain the weighting for each intention. With the intention weighting identified, we then propose a fuzzy controller to generate proper braking force for i-go. In addition, to adapt to different users, we apply the ANFIS to tune the parameters of the fuzzy controller to achieve more accurate assistance.",

keywords = "ANFIS, Force-Sensing Grip, Human Intention, Robot Walking Helper",

author = "Huang, {Yi Che} and Yang, {Hsiang Ping} and Ko, {Chun Hsu} and Kuu-Young Young",

year = "2011",

month = aug,

day = "29",

language = "English",

isbn = "9788995605646",

series = "ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings",

pages = "311--316",

booktitle = "ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings",

note = "8th Asian Control Conference, ASCC 2011 ; Conference date: 15-05-2011 Through 18-05-2011",

}

Human intention recognition for robot walking helper using ANFIS. / Huang, Yi Che; Yang, Hsiang Ping; Ko, Chun Hsu et al.
ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings. 2011. p. 311-316 5899090 (ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Huang, Yi Che

AU - Yang, Hsiang Ping

AU - Ko, Chun Hsu

AU - Young, Kuu-Young

PY - 2011/8/29

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N2 - In this paper, upon a passive robot walking helper developed in our laboratory, referred to as i-go, we attach the force-sensing grips to its two handles, which are used to effectively recognize the intention of the user. We use the Lasso model for user intention recognition, so that we can infer the relationship between the user' intention and measured pushing-pulling force. We also use the PCA algorithm to obtain the weighting for each intention. With the intention weighting identified, we then propose a fuzzy controller to generate proper braking force for i-go. In addition, to adapt to different users, we apply the ANFIS to tune the parameters of the fuzzy controller to achieve more accurate assistance.

AB - In this paper, upon a passive robot walking helper developed in our laboratory, referred to as i-go, we attach the force-sensing grips to its two handles, which are used to effectively recognize the intention of the user. We use the Lasso model for user intention recognition, so that we can infer the relationship between the user' intention and measured pushing-pulling force. We also use the PCA algorithm to obtain the weighting for each intention. With the intention weighting identified, we then propose a fuzzy controller to generate proper braking force for i-go. In addition, to adapt to different users, we apply the ANFIS to tune the parameters of the fuzzy controller to achieve more accurate assistance.

KW - ANFIS

KW - Force-Sensing Grip

KW - Human Intention

KW - Robot Walking Helper

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T3 - ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings

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BT - ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings

T2 - 8th Asian Control Conference, ASCC 2011

Y2 - 15 May 2011 through 18 May 2011

ER -

Human intention recognition for robot walking helper using ANFIS

Abstract

Publication series

Conference

Keywords

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