Collection and Analysis of Human Upper Limbs Motion Features for Collaborative Robotic Applications
Collection and Analysis of Human Upper Limbs Motion Features for Collaborative Robotic Applications
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DOI：
10.3390/robotics9020033
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发表时间：
2020-06-01
期刊：
影响因子：
3.7
通讯作者：
Gastaldi, Laura
中科院分区：
文献类型：
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作者：
Digo, Elisa;Antonelli, Mattia;Gastaldi, Laura
(1)背景资料：工业4.0的技术越来越多地促进人类运动预测的操作，以改善工人和机器人之间的协作。本研究的目的是融合典型的工业取放运动的人类上肢的空间和惯性数据，并从协作机器人应用和人类运动预测算法的未来角度分析所收集的功能。(2)研究方法：采用惯性测量单元和立体摄影测量系统，对10名健康青年受试者在三个不同高度进行取放操作时的上身运动进行了跟踪。从获得的数据库中，选择10个特征，并用于区分不同高度的拾取和放置手势。通过估计混淆矩阵和F1分数来评估分类性能。(3)结果：矩阵对角线上的值明显大于其他位置的值。此外，在大多数情况下，F1评分非常高。(4)结论：上臂的纵向加速度和标记坐标的手腕和肘部可以被认为是代表性的功能，在不同的高度拾取和放置的姿态，因此，他们是适合的定义的人体运动预测算法，采用有效的协作机器人工业应用。
(1) Background: The technologies of Industry 4.0 are increasingly promoting an operation of human motion prediction for improvement of the collaboration between workers and robots. The purposes of this study were to fuse the spatial and inertial data of human upper limbs for typical industrial pick and place movements and to analyze the collected features from the future perspective of collaborative robotic applications and human motion prediction algorithms. (2) Methods: Inertial Measurement Units and a stereophotogrammetric system were adopted to track the upper body motion of 10 healthy young subjects performing pick and place operations at three different heights. From the obtained database, 10 features were selected and used to distinguish among pick and place gestures at different heights. Classification performances were evaluated by estimating confusion matrices and F1-scores. (3) Results: Values on matrices diagonals were definitely greater than those in other positions. Furthermore, F1-scores were very high in most cases. (4) Conclusions: Upper arm longitudinal acceleration and markers coordinates of wrists and elbows could be considered representative features of pick and place gestures at different heights, and they are consequently suitable for the definition of a human motion prediction algorithm to be adopted in effective collaborative robotics industrial applications.