Learning by Demonstration for Motion Planning of Upper-Limb Exoskeletons
Authors/Creators
- 1. Unit of Biomedical Robotics and Biomicrosystems, Department of Engineering, Università Campus Bio-Medico, Rome, Italy
- 2. The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- 3. Biomedical Neuroengineering Research Group, Miguel Hernandez University, Elche, Spain
- 4. Departamento de Ingeniería en Automática, Electrónica, Arquitectura y Redes de Computadores, Universidad de Cádiz, Cádiz, Spain
- 5. GLIC—Italian Network of Assistive Technology Centers, Bologna, Italy
- 6. Unit of Physical and Rehabilitation Medicine, Università Campus Bio-Medico, Rome, Italy
- 7. The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy; Fondazione Don Carlo Gnocchi, Firenze, Italy
Description
Raw data acquired necessary to perform the algorithm introduced in this paper.
a) CA_task1.xlsx
In this file the mean value of robot joint angles computed on the data acquired during the task1 performing with different object positions and used to carry out the CA-sim in Fig.11 are reported (in radians) for the DMP control, IK inverse jacobian and IK with swivel angle.
b) CA_task2.xlsx
In this file the mean value of robot joint angles computed on the data acquired during the task2 performing with different object positions and used to carry out the CA-sim in Fig.11 are reported (in radians) for the DMP control, IK inverse jacobian and IK with swivel angle.
c) CA_task3.xlsx
In this file the mean value of robot joint angles computed on the data acquired during the task3 performing with different object positions and used to carry out the CA-sim in Fig.11 are reported (in radians) for the DMP control, IK inverse jacobian and IK with swivel angle.
d) GCA_sim_task1.xlsx
In this file the mean value of robot joint angles computed on the data acquired during the task1 performing with different object positions and used to carry out the GCA-sim in Tab.2 are reported (in radians) for 25 different anthropometry
e) GCA_sim_task2.xlsx
In this file the mean value of robot joint angles computed on the data acquired during the task2 performing with different object positions and used to carry out the GCA-sim in Tab.2 are reported (in radians) for 25 different anthropometry
f) GCA_sim_task3.xlsx
In this file the mean value of robot joint angles computed on the data acquired during the task3 performing with different object positions and used to carry out the GCA-sim in Tab.2 are reported (in radians) for 25 different anthropometry
g) GCA_real_task1.xlsx
In this file the mean value of robot joint angles computed on the data acquired during the task1 performing for different objects positions and used to carry out the GCA-real in Tab.2 are reported (in radians) for the four patients recruited in the study.
h) GCA_real_task2.xlsx
In this file the mean value of robot joint angles computed on the data acquired during the task2 performing for different objects positions and used to carry out the GCA-real in Tab.2 are reported (in radians) for the four patients recruited in the study.
i) GCA_real_task3.xlsx
In this file the mean value of robot joint angles computed on the data acquired during the task3 performing for different objects positions and used to carry out the GCA-real in Tab.2 are reported (in radians) for the four patients recruited in the study.
Files
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