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Movement prediction for a lower limb exoskeleton using a conditional restricted Boltzmann machine

Published online by Cambridge University Press:  28 November 2016

Eunsuk Chong
Affiliation:
Robotics Laboratory, Seoul National University, Seoul 08826, Korea E-mail: bear3498@snu.ac.kr
F. C. Park*
Affiliation:
Robotics Laboratory, Seoul National University, Seoul 08826, Korea E-mail: bear3498@snu.ac.kr
*
*Corresponding author. E-mail: fcp@snu.ac.kr

Summary

We propose a novel class of unsupervised learning-based algorithms that extend the conditional restricted Boltzmann machine to predict, in real-time, a lower limb exoskeleton wearer's intended movement type and future trajectory. During training, our algorithm automatically clusters unlabeled exoskeletal measurement data into movement types. Our predictor then takes as input a short time series of measurements, and outputs in real-time both the movement type and the forward trajectory time series. Physical experiments with a prototype exoskeleton demonstrate that our method more accurately and stably predicts both movement type and the forward trajectory compared to existing methods.

Type
Articles
Copyright
Copyright © Cambridge University Press 2016 

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