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Incremental learning of EMG-based Control commands using Gaussian Processes

Schiel, Felix and Hagengruber, Annette and Vogel, Jörn and Triebel, Rudolph (2020) Incremental learning of EMG-based Control commands using Gaussian Processes. In: Conference on Robot Learning 2020. Conference on Robot Learning (CoRL) 2020, 16.-18. Nov 2020, virtual conference.

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Abstract

Myoelectric control is the process of controlling a prosthesis or an assistive robot by using electrical signals of the muscles. Pattern recognition in myoelectric control is a challenging field, since the underlying distribution of the signal is likely to change during the application. Covariate shifts, including changes of the arm position or different levels of muscular activation, often lead to significant instability of the control signal. This work tries to overcome These challenges by enhancing a myoelectric human machine interface through the use of the sparse Gaussian Process (sGP) approximation Variational Free Energy and by the introduction of a novel adaptive model based on an unsupervised incremental learning approach. The novel adaptive model integrates an interclass and intraclass distance to improve prediction stability under challenging conditions. Furthermore, it demonstrates the successful incorporation of incremental updates which is shown to lead to a significantly increased performance and higher stability of the predictions in an online user study.

Item URL in elib:https://elib.dlr.de/138025/
Document Type:Conference or Workshop Item (Speech)
Title:Incremental learning of EMG-based Control commands using Gaussian Processes
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Schiel, Felixfschiel93 (at) yahoo.deUNSPECIFIED
Hagengruber, AnnetteAnnette.Hagengruber (at) dlr.deUNSPECIFIED
Vogel, JörnJoern.Vogel (at) dlr.dehttps://orcid.org/0000-0002-1987-0028
Triebel, RudolphRudolph.Triebel (at) dlr.deUNSPECIFIED
Date:November 2020
Journal or Publication Title:Conference on Robot Learning 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Sparse GP Regression, Incremental Learning, myoelectric Human Machine Interface
Event Title:Conference on Robot Learning (CoRL) 2020
Event Location:virtual conference
Event Type:international Conference
Event Dates:16.-18. Nov 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Hagengruber, Annette
Deposited On:24 Nov 2020 17:23
Last Modified:24 Nov 2020 17:23

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