Data-Driven Personalization of Body–Machine Interfaces to Control Diverse Robot Types
提出一种新方法，根据操作者偏好的身体动作自适应生成个性化身体-机器接口，通过捕捉与机器人动作相关的个体运动协同并将其转化为控制命令，在多种机器人上验证了有效性。
Body-machine interfaces for robotic teleoperation have been shown to improve user experience and performance. However, such interfaces must be tailored for each robot type and may require personalization to accommodate user’s preferences. Here, we present a novel method to adaptively generate personalized body-machine interfaces from an operator’s preferred body movements. The method captures individual motor synergies that are correlated to robot actions and translates them into control commands. The proposed method is validated on a set of users with varied behavioral patterns for teleoperating robots with diverse morphologies and degrees of freedom, such as a fixed-wing drone, a quadrotor, and a robotic manipulator.