Online Dynamic Time Warping Algorithm for Human-Robot Imitation

摘要

In this paper, we propose a novel online algorithm for motion similarity measurements during human-robot interaction (HRI). Specifically, we formulate a Segment-based Online Dynamic Time Warping (SODTW) algorithm that can be used for understanding of repeated and cyclic human motions, in the context of rehabilitation or social interaction. The algorithm can estimate both the human-robot motion similarity and the time delay to initiate motion and combine these values as a metric to adaptively select appropriate robot imitation repertoires. We validated the algorithm offline by post-processing experimental data collected from a cohort of 55 subjects during imitation episodes with our social robot Zeno. Furthermore, we implemented the algorithm online on Zeno and collected further experimental results with 13 human subjects. These results show that the algorithm can reveal important features of human movement including the quality of motion and human reaction time to robot stimuli. Moreover, the robot can adapt to appropriate human motion speeds based on similarity measurements calculated using this algorithm, enabling future adaptive rehabilitation interventions for conditions such as Autism Spectrum Disorders (ASD).