Fast calibration of hand movement-based interface for arm exoskeleton control

Hugo Martin (1) , Sylvain Chevallier (1) , Eric Monacelli (1)

1 LISV - Laboratoire d'Ingénierie des Systèmes de Versailles

Several muscular degenerative diseases alter motor abilities of large muscles but spare smaller muscles, e.g. keeping hand motor skills relatively unaffected while upper limbs ones are altered. Thus, hand movements could be be used to control an arm exoskeleton for rehabilitation and assistive purpose. Using an infra-red sensors (IR) based interface for the exoskeleton control, this paper describes the learning part of the system, endowing the system with a fast online calibration and adaptation abilities. This learning component shows good results and have been successfully implemented on the real system.

Mots clés: rehabilitation; exoskeleton; knn; interface

Domaines: Réseau de neurones [cs.NE]; Robotique [cs.RO]; Apprentissage [cs.LG]

Hugo Martin, Sylvain Chevallier, Eric Monacelli. Fast calibration of hand movement-based interface for arm exoskeleton control. European Symposium on Artificial Neural Networks (ESANN), Apr 2012, Bruges, Belgium. pp.573-578. ⟨hal-00757886⟩