Trajectory Online Adaption Based on Human Motion Prediction for Teleoperation

In this work, a human motion intention prediction method based on an autoregressive (AR) model for teleoperation is developed. Based on this method, the robot's motion trajectory can be updated in real time through updating the parameters of the AR model. In the teleoperated robot's control loop, a virtual force model is defined to describe the interaction profile and to correct the robot's motion trajectory in real time. The proposed human motion prediction algorithm acts as a feedforward model to update the robot's motion and to revise this motion in the process of human-robot interaction (HRI). The convergence of this method is analyzed theoretically. Comparative studies demonstrate the enhanced performance of the proposed approach. Note to Practitioners-In general, the robot trajectory is predetermined and it does not consider the influence of the interaction profiles in terms of position and interaction force between the human and the robot. In addition, it is hard to quantify the influence of interaction profile for the robot trajectory. For teleoperation, an AR-based model is proposed to predict the trajectory of the human and then to update the trajectory of the robot. The developed method includes the following aspects: 1) the robot trajectory can be regulated based on the interaction profiles; 2) the feedforward model can estimate the trajectory of the human to achieve the purpose of human intention recognition in advance for the robot; and 3) the proposed method can be potentially utilized for telerehabilitation, microsurgery, and so on.