Motion Prediction of Human Wearing Powered Exoskeleton

摘要

With the development of powered exoskeleton in recent years, one important limitation is the capability of collaborating with human. Human-machine interaction requires the exoskeleton to accurately predict the human motion of the upcoming movement. Many recent works implement neural network algorithms such as recurrent neural networks (RNN) in motion prediction. However, they are still insufficient in efficiency and accuracy. In this paper, a Gaussian process latent variable model (GPLVM) is employed to transform the high-dimensional data into low-dimensional data. Combining with the nonlinear autoregressive (NAR) neural network, the GPLVM-NAR method is proposed to predict human motions. Experiments with volunteers wearing powered exoskeleton performing different types of motion are conducted. Results validate that the proposed method can forecast the future human motion with relative error of 2%similar to 5% and average calculation time of 120 s similar to 155 s, depending on the type of different motions.