A DCT-Gaussian classification scheme for human-robot interface

Authors:
Srinivas Kota;Michael Mace;Lalit Gupta;Ravi Vaidyanathan
Affiliations:
Southern Illinois University, Carbondale, IL;Department of Mechanical Engineering at the University of Bristol, Bristol, UK;Southern Illinois University, Carbondale, IL;Department of Mechanical Engineering at the University of Bristol, Bristol, UK and US Naval Postgraduate School, Monterey, CA
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

The ultimate success of a human-robot-interface system depends on how accurately user control signals are classified. This paper is aimed at developing and testing a strategy to accurately classify human-robot control signals. The primary focus is on overcoming the dimensionality problem frequently encountered in the design of Gaussian multivariate signal classifiers. The dimensionality problem is overcome by selecting, using two different ranking criteria, a small set of linear combinations of the input signal space generated by the discrete cosine transform (DCT). The application of the resulting DCT-Gaussian signal classification strategy is demonstrated by classifying tongue-movement earpressure (TMEP) bioacoustic signals that have been proposed for control of an assistive robotic arm. Classification results show that the DCT-Gaussian classifiers outperform classifiers described in a previous study. Most noteworthy is the fact that the Gaussian multivariate control signal classifiers developed in this paper can be designed without having to collect a prohibitively large number of training signals in order to satisfy the dimensionality conditions. Consequently, the classification strategies will be especially beneficial for designing personalized assistive interfaces for individuals from whom only a limited number of training signals can reliably be collected due to severe disabilities.