Human Skill Transfer System via Novint Falcon
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1 Human Skill Transfer System via Novint Falcon Tarinee Tonggoed and Siam Charoenseang Abstract This paper presents a skill transfer system of hand movement via Novint Falcon. In the research, expert can demonstrate his or her hand movement skill through the 3 DOF device while the novice is able to practice how to perform that trajectory on the same device by himself or herself. The proposed skill transfer system composes of skill modeling, skill reproduction, skill playback, and skill evaluation. During skill modeling, the mixture model algorithm is selected to model the hand s trajectory. The trajectory data can be reproduced by applying a mixture regression algorithm in the reproduction process. Skill playback then receives reproduced data to present the modeled trajectory of the device to the novice. After training, the novice will perform the trajectory that he or she already practiced through the device. Then, the skill evaluation process will determine the similarities of spatial and temporal values between the modeled trajectory and the captured novice s trajectory. The experimental results show that this proposed system is efficient enough for modeling and reproducing the captured trajectory in the human skill transfer from the expert to the novice. I. INTRODUCTION During the past decades, many research works have contributed on human s skill modeling and they also transferred some skills related to manipulation to the robots. This field of research also covers the robot programming by demonstration (PbD) or learning from demonstration (LfD) and there are several approaches to apply the learning methods to the robots. Yang[1] and Calinon[2] have investigated the effectiveness of using Hidden Markov Model in skill modeling. Another interesting method for modeling skill is a mixture model (GMM) which is used in[3] and [4]. Besides robot programming by demonstration, the skill transferring to human operator is also an attractive research field. Nechyba and Yangsheng studied about skill transferring from an expert to a less-skilled operator[5]. By using Neural Network in the learning process, they focused on transferring human control strategy in a simulated inverted pendulum system from an expert user to a less-experienced. Kazuyuki HENMI presented a calligraphy transfer skill system using haptic virtual reality technology [6]. Jorge Solis proposed the idea of using the haptic system to exert the proper force to help user to perform tasks appropriately [7]. There are not many research works which cover both expert s skill modeling and transferring to novice with multiple DOF devices. system. Usually, they cover only 1 or 2 DOF skill transfer In this paper, a development of a skill transfer system that can teach the non-expert with a skill related to the expert s hand trajectory using a 3-DOF Novint Falcon touch device is proposed. mixture model is chosen for modeling the expert s manipulation skill. The component number of mixture model is an important parameter for obtaining an efficient model. In this research, an estimation of the component number based on the changes of trajectory direction will be discussed. Furthermore, the regenerated data sent to the device is also reproduced by using mixture regression. Then, the system will evaluate the temporal and spatial similarities between the novice s hand trajectory and the modeled expert s trajectory. The preliminary experimental results are collected and presented to show the performance of the proposed system. This paper is organized as follows. System Overview section covers details of the whole system. Experimental setup and results section show the experimental results of the proposed system. Finally, conclusions and further works are presented in the last section. A. System Overview II. SYSTEM STRUCTURE The proposed system consists of an expert, a novice, a 3D Novint Falcon touch device [8], and a computer as shown in Fig.1. In this system, the expert plays the role of a teacher to transfer motion skill by holding a gripper of the Novint Falcon to perform the hand movement via that device. The Novint Falcon acts as both a sensor and an actuator. As a role of the sensor, the device will capture and send the hand trajectory of expert to the computer. In the other hand, the Novint Falcon will present touch feedback accordingly to the modeled movement to the novice during the training. The computer will record both spatial and temporal data during system training for skill capture and novice training for skill transfer. The computer will build the hand s trajectory model from the recorded data and evaluate the trajectory similarity of novice s movement and the captured path. In addition, the novice can use the Novint Falcon to practice the captured skill which is reproduced by the computer. Tarinee Tonggoed is with the Institute of Field Bobotics, King Mongkut s University of Technology, Thonburi, Bangkok, Thailand, (corresponding author to provide phone: +(66) , ; fax: +(66) ; @st.kmutt.ac.th). Siam Chareonseang is with the Institute of Field Bobotics, King Mongkut s University of Technology, Thonburi, Bangkok, Thailand, (corresponding author to provide phone: +(66) , ; fax: +(66) ; siam@fibo.kmutt.ac.th).
2 A. Mixture Model (GMM) Data modeling from a mixture of distribution K is the main idea of mixture model. For example, if there are n data sequences and each data sequence has a length of T, data set contains N = nt data points. Let data N set be α = {α j } j=1 which α j = {α t, α s } and p(α j ) is defined as the posterior probability. By using Bayes theorem, p(α j ) is computed as in B. System Data Flow Figue 1 System Overview In system training, the expert will demonstrate the hand movement trajectory through the Novint Falcon. The data gathering module then records that trajectory in the form of position (x, y, and z) and time (t). The recorded data will be sent to the trajectory modeling module which builds the captured trajectory s model by using the mixture model algorithm. Next, the system will reproduce the captured trajectory from the model by the reproduction module. steps and Cartesian positions are the outputs of this module. After the reproduction process, the playbacked data will be sent to the robot controller module which is responsible to control the actuator s movement using PID control algorithm. Forces in x, y, and z axes are generated from that module and sent to the Novint Falcon module to perform its movements. This will guide the novice to learn and practice the modeled trajectory obtained from the expert. During the evaluation phase, the data gathering module will capture and send the obtained data which are time steps (t) and position (x, y, and z) of the novice s hand trajectory to the evaluation module. The module will compare the likeness between the expert s trajectory model and the novice s trajectory of using the Novint Falcon. The system data flow in Fig.2. p(α j ) = K k=1 p(k)p(α j k) (1)[9] p(k) are priors of each K and p(α j k) is a conditional probability density function as in p(α j k) = N(α j ; μ k, k ) (2) [9] From above equations, GMM parameters are K {π k, μ k, k } k=1. Where π k, μ k and k are prior, mean, and covariance matrix of the kth. For learning of GMM parameters, k-mean clustering technique is selected to initiate the GMM s parameters and Expectation- Maximization algorithm is used to train those parameters. In this paper α j is a D-dimensional data set with D = 4. The data sequences have n = 5 and each sequence s length is T = 40. B. Mixture Regression (GMR) Mixture Regression is an algorithm for data recovering from the trained GMM. From the previous section, GMM is defined by prior(π k ), mean(μ k ), and covariance ( k ) matrices. The condition expectation of α s given α t can be described as in Where, K p(α s α t ) ~ k=1 β k N(α k, k ) (3) [9] β k = p(k α t ) (4) [9] In this research, α t is the time step with length of 40 and step size is 1. Finally, the position in x, y, and z at each given time step can be recovered. Figure 2 System Data Flow III. LEARNING ALGORITHM AND ROBOT CONTROLLING The learning algorithms applied in this research consist of mixture model and mixture regression. The first one is applied in skill modeling process. The estimation of component number based on the direction changing will be discussed. In the reproduction process, the mixture regression is the method for data recovering. In addition, a PID controller is implemented to control the Novint Falcon s movement. C. Estimation of Component Number The number of component is the important initial parameter for updating in the expectation maximization (EM) algorithm. The idea of estimating that number in this proposed paper is based on the changes of trajectory s direction. In the research, spatial and temporal data in 4 dimensions are collected. Before the data modeling process, the other important process is the data preprocessing for obtaining more clean and meaningful data. In this research, the changing of direction is contributed for good feature extraction. The idea of this algorithm is to calculate the angle between the spatial data which are the positions in x, y, and z axes at time step t and t+1 as shown in Fig.3. After the calculation of angle, the result of that process can be classified into 8 different groups.
3 Figure 3 Direction Segmentation Start Read data 1 set Calculate Slope between data(t) and data(t+1) No Classify Slope into Group (8 groups) Figure 5 Flow Chart of Data Clustering based on Direction Changing E. PID controller Is data empty? End Yes Figure 4 Flow Chart of Data Preprocessing At the beginning, the one set of recorded data is read and the moving average with window size of 4 is applied for smoothing the raw data. After that, angle between time step or slope will be calculated and classified into each group. This process will be repeated until there is no more recorded data. The output of this process is the set of labeled data which is a feature vector. The flow chart of this data preprocessing can be shown in Fig.4. From the data preprocessing, the labeled data sets are obtained. The next process is the process for grouping data of the same label into the same cluster. The algorithm of grouping is shown in Fig.5. The last process is to find the maximum value of cluster group for each data set and average those values. In this process, the averaged component number can be obtained. A PID controller is applied in the robot controller for this system. Since the robot s workspace is not large, the integral term of the controller does not effect much on this system. The control equation of PID controller can be demonstrated as in Equation 5. u(t) = K P e(t) + K I e(t) dt + K D d Where, dt u(t) is Output signal to process e(t) is Error e(t) = r(t) y(t) r(t) is Setpoint y(t) is Actual Output e(t) (5)[10] For this system, r (t) is the target position which is obtained from the reproduction process and y(t) is the end effector current position. Ziegler-Nichols method is applied for the PID parameter tuning. The final gains are Kp = 10, Ki = 0.001, and Kd = IV. EXPERIMENTAL SETUP AND RESULTS The experimental setup is shown in Fig.6 which illustrates the expert or novice, a computer, and a Novint Falcon touch device shown in Fig. 7 which is a 3-DOF parallel delta robot with position resolution of 400 dpi in 4 x 4 x 4 workspace[8]. One expert and seven novices were asked to perform two main sets of experiments.
4 Figure 6 Experimental Setup implementation of skill transfer from the expert to the robot and the robot to the novice. A. The Experimental Results of Estimation of Component Number To evaluate this proposed algorithm, the incremental k-mean is selected to be compared with the estimation of component number. Bayesian information criterion () is selected as the criterion of stopping condition. The two 40-point trajectories are used in this research to evaluate the performance of this proposed algorithm. The experimental results are shown in Table 1 and 2. TABLE I. RESULTS OF THE PROPOSED ALGORITHM AND INCREMENTAL K-MEAN ALGORITHM FOR GESTURE 1 Figue 7 Novint Falcon [8] In the research, the Novint Falcon is used as both an input and an output device. The haptics device abstraction layer (HDAL) SDK [11] is implemented to manipulate the Novint Falcon s movement. There are two trajectories that expert will have to demonstrate to the robot as shown in Fig.8 and Fig.9 No Proposed Algorithm Incremental K-Mean Avg a ) Pull Forward b) Pull Up c) Push Down Figure 8 The First Demonstrated Trajectory of Hand Movement a ) Pull Left b) Pull Right c) Pull Forward Figure 9 The Second Demonstrated Trajectory of Hand Movement Three experimental sets were conducted to evaluate the effectiveness of this system. The first set is to test the efficiency of the proposed estimation method for component number The second set is implemented to test the system performance of trajectory transferring from the expert to the robot. The performance in skill transferring from the robot to the novice is also investigated in the third experimental set. The system performance of trajectory transferring involves with recording time, training time, and the reproducing time which will be also measured. For the data set with a size of 3 x 40, the recording process takes about 4.78 seconds, the reproducing process using mixture regression consumes about 3.6 milliseconds. Averaged training time will be also demonstrated in the experimental results of estimation component number. For this research, the consumed times in recording, modeling, and reproduction processes are fast enough for the No TABLE II. RESULTS OF THE PROPOSED ALGORITHM AND INCREMENTAL K-MEAN ALGORITHM FOR GESTURE 2 Proposed Algorithm Incremental K-Mean Avg The experimental results in Table 1 show that the component numbers after applying the proposed algorithm in gesture 1is equal to 7. The averaged modeling time is 0.44 seconds and the averaged of value is For applying the incremental k-mean algorithm, the averaged value of the proposed algorithm is used as the stopping criterion of this method. The averaged component number is 7.6 but 8 is used in actual implementation.the averaged time consuming in the modeling process is 0.50 seconds and the value is Table 2 presents that the proposed algorithm took 0.27 seconds in the modeling process. The averaged value is equal to and the component number is 6. For the incremental k-mean algorithm, time consuming in the
5 modeling process took 0.27 seconds, and value and component number are and 6, respectively. These results indicate that the proposed algorithm can obtain similar performance on these specific data as the one obtained from the incremental k-mean algorithm. B. The Experimental Results of System Performance of Trajectory Transferring from the Expert to the Robot In this research, log-likelihood is selected to evaluate the similarity between the trajectory of the Novint Falcon after being trained and the modeled trajectory obtained from the expert. The results of this evaluation show that an averaged log-likelihood of the Novint Falcon s trajectory after it performed first trajectory and second trajectory are and -5.6, respectively. Based on those values and expert s decisions, it can be concluded that the Novnint Falcon can perform the alike movement as the expected trajectory which are created from the trained model. Fig. 10 presents that performance of using GMM and GMR is effective enough for the uses in trajectory modeling and reproduction processes. C. The Experimental Results of System Performance of Trajectory Transferring from the Robot to the Novice The experiment s objective is to evaluate the effectiveness of the novice s trajectory training through the Novint Falcon. During the evaluation process, the novice is asked to practice to move his/her hand following the Novint Falcon s movement under the eye-closed and eye-opened conditions. After training under each condition, the novice performed the trajectory that he/she already has practiced on the Novint Falcon. The system will evaluate the resemblance of novice s trajectory with the model s one. The experimental results are shown in Fig.11 and Fig.12. Figure 11 Novice's Log-likelihood Plot for Gesture 1 a) Novint Falcon s First Trajectory Figure 12 Novice's Log-likelihood Plot for Gesture 2 b) Novint Falcon s Second Trajectory Figure 10 Trajectories Performed by the Novint Falcon vs. the Expected Trajectory Model Fig.11 demonstrates that the log-likelihood plots obtained from the training and playing back with the eye-opened condition in first trajectory are about 57% better than the ones obtained from the learning and playing back with the
6 eye-closed condition. For the plots of the second trajectory shown in Fig. 12, the training with the eye-opened condition gives a better performance than the one with eye-closed condition upto 85%. Also, the play back of movement with eye-opened condition provides 57% better performance than another. This means the novices can learn the manipulation skill better under the eye-opened condition. D. Conclusions and Further Works The hand movement skill transfer from the expert to the novice through the Novint Falcon was presented. The proposed system covered human s trajectory modeling and reproduction by machine learning algorithms and demonstrated the real implementations of manipulation skill transfer from the expert to the device and the device to the novice. In the process of trajectory modeling, mixture model is applied for building the captured trajectory s model. The estimation method of component number based on the changes of trajectories direction is proposed and compared with the incremental k- mean algorithm. The proposed method can provide similar performance as the well-known incremental k-mean algorithm. mixture regression is a selected method in the reproduction process to regenerate the data accordingly to the captured model. The Novint Falcon is a 3-DOF parallel robot which plays the main roles of sensor and actuator in this proposed system. The expert demonstrates the hand trajectories through Novint Falcon and the system captures and builds their path models. The regenerated path data are presented through the Novint Falcon movement in the playback and novice training processes. The experimental results indicate that the novices can learn and playback with the systems under eye-opened condition better than the ones under eye-closed condition. Several interesting points of work can be conducted to see whether the proposed system is robust enough to cope with some more sophisticated tasks which require more complex manipulation with multiple degrees of freedom. This leads in modification of robot to obtain more degrees of freedom and more accurate control. In addition, some augmented information could be implemented to provide graphical advised information in real time during the training and playing back processes. Also, this system can be enhanced for arm/hand rehabilitations along with some force/tactile feedbacks via the proposed skill transfer system. [4] Y. Lin, S. Ren, M. Clevenger, and Y. Sun, "Learning Grasping Force from Demonstration," in 2012 IEEE International Conference on Robotics and Automation USA, [5] M. C. Nechyba and X. Yangsheng, "Human skill transfer: neural networks as learners and teachers," in Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings IEEE/RSJ International Conference on, 1995, pp vol.3. [6] K. HENMI and T. YOSHIKAWA, "Virtual Lessoin and Its Application to Virtual Calligraphy System " in International Conference on Robotics & Automation Leuven, Belgium [7] J. Solis, C. A. Avizzano, and M. Bergamasco, "Teaching to Write Japanese Characters using a Haptic Interface " in HAPTIC' 02, [8] S. Martin and N. Hillier, "Characterisation of the Novint Falcon Haptic Device for Application as a Robot Manipulator," in Australasian Conference on Robotics and Automation (ACRA) Sydney, Australia, [9] S. Calinon, Robot Programming by Demonstration: A Probabilistic Approach: EPFL Press, ] "PID controller," [11] N. T. Incorporated, "Haptic Device Abstraction Layer (HDAL) " the USA, REFERENCES [1] J. Yang, Y. Xu, and C. S. ChenZ, "Hidden Markov model approach to skill learning and its application to telerobotics," Robotics & Control Systems vol. 10, [2] S. Calinon, F. D halluin, E. L. Sauser, D. G. Caldwell, and A. G. Billard, "Learning and Reproduction of Gestures by Imitation," IEEE Robotics & Automation Magazine, vol. 17, [3] S. Calinon and A. Billard, "Incremental learning of gestures by imitation in a humanoid robot," in 2007 ACM/IEEE International Conference on Human-Robot Interaction, 2007.
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