TAROS paper Incremental Learning for HRC.pdf (317.08 kB)
An incremental learning approach for physical human-robot collaboration
conference contribution
posted on 2021-04-20, 09:01 authored by Achim Buerkle, Ali Al-Yacoub, Pedro FerreiraPedro FerreiraPhysical Human-Robot Collaboration requires humans and robots to perform joint tasks in a shared workspace. Since robot’s characteristic strengths are to cope well with high payloads, they are utilized to assist human operators during heavy pulling or pushing activities. A widely used sensor to detect human muscle fatigue and thus, to trigger an assistance request, is an Electromyography (EMG). Many previous approaches to process EMG data are based on training Machine Learning models offline or include a large degree of manual fine tuning. However, due to recent advances in Machine Learning such as incremental learning, there is an opportunity to apply online learning which reduces programming effort and also copes well with subject specific characteristics of EMG signals. Initial results show promising potential, yet, unveil a conflict between convergence time and classification accuracy.
Funding
Digital Toolkit for optimisation of operators and technology in manufacturing partnerships (DigiTOP)
Engineering and Physical Sciences Research Council
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School
- Mechanical, Electrical and Manufacturing Engineering
Published in
Towards Autonomous Robotic Systems: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020, ProceedingsPages
308 - 313Source
Towards Autonomous Robotic Systems (TAROS 2020)Publisher
SpringerVersion
- AM (Accepted Manuscript)
Rights holder
© Springer Nature Switzerland AGPublisher statement
The final authenticated version is available online at https://doi.org/10.1007/978-3-030-63486-5_33.Publication date
2020-12-03Copyright date
2020ISBN
9783030634858; 9783030634865ISSN
0302-9743eISSN
1611-3349Publisher version
Book series
Lecture Notes in Computer Science; 12228Language
- en
Editor(s)
Abdelkhalick Mohammad; Xin Dong; Matteo RussoLocation
Nottingham, United Kingdom (Virtual)Event dates
16th September 2020 - 16th September 2020Depositor
Achim Buerkle. Deposit date: 1 March 2021Usage metrics
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