Hybrid Automata System for Emotion Embodiment in Upper Extremity Rehabilitation System
This paper highlights the embodiment of emotions which is structured using hybrid automata framework. Each initialization value, modes, condition for each mode, guard conditions, and transition between modes of the automata model designed for robot-assisted rehabilitation system are elaborated. A structured experimental setup was designed to invoke the emotion of the subject and to test the integration between detected emotion with the rehabilitation platform. The evaluation of the hybrid automata proposed is based on real time application. The result demonstrates the efficacy of hybrid automata approach in the rehabilitation application where emotion of the subject is taken into consideration in deploying suitable upper extremity rehabilitation tasks for Human Machine Interaction (HMI) applications.
T. A. Henzinger, The theory of hybrid automata: Springer, 2000.
J.-F. Raskin, "An introduction to hybrid automata," in Handbook of networked and embedded control systems, ed: Springer, 2005, pp. 491-517.
K. Kumar and M. V. Vaidyan, "Modeling of Non-convex Obstacle Detection and Avoidance Mobile Robot by Hybrid Cellular Automata," in Advances in Computing and Communications (ICACC), 2013 Third International Conference on, 2013, pp. 9-12.
H. Fu, G. Tian, Q. Chen, and Y. Jin, "Hybrid automata of an integrated motor-transmission powertrain for automatic gear shift," in American Control Conference (ACC), 2011, 2011, pp. 4604-4609.
A. Schwarze, M. Buntins, J. Schicke-Uffmann, U. Goltz, and F. Eggert, "Modelling driving behaviour using hybrid automata," IET Intelligent Transport Systems, vol. 7, pp. 251-256, 2013.
Y. Ge, Y. Chen, and G. Zhang, "Longitudinal control of intelligent vehicle based on hybrid automata model," in Intelligent Control and Automation (WCICA), 2012 10th World Congress on, 2012, pp. 1848-1853.
Y. Yalei and Z. Xingshe, "Cyber-Physical Systems Modeling Based on Extended Hybrid Automata," in Computational and Information Sciences (ICCIS), 2013 Fifth International Conference on, 2013, pp. 1871-1874.
A. He and J. Wang, "A formal analysis of stage stunt system with hybrid automata," in Computing and Convergence Technology (ICCCT), 2012 7th International Conference on, 2012, pp. 741-744.
G. Caravagna, A. d'Onofrio, M. Antoniotti, and G. Mauri, "Stochastic Hybrid Automata with delayed transitions to model biochemical systems with delays," Information and Computation, vol. 236, pp. 19-34, 2014.
S. N. Sidek, A. U. Shamsudin, and E. Ismail, "A Hybrid Controller with Chedoke-McMaster Stroke Assessment for Robot-Assisted Rehabilitation," Procedia Engineering, vol. 41, pp. 629-635, 2012.
Y.-M. Kim and D.-S. Kwon, "A fuzzy intimacy space model to develop human-robot affective relationship," in World Automation Congress (WAC), 2010, 2010, pp. 1-6.
J. Ma, Y. Zhang, Y. Nam, A. Cichocki, and F. Matsuno, "EOG/ERP hybrid human-machine interface for robot control," in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013, pp. 859-864.
C. R. Guerrero, J. F. Marinero, J. P. Turiel, and P. R. Farina, "Using psychophysiological feedback to enhance physical human robot interaction in a cooperative scenario," in Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on, 2012, pp. 1176-1181.
A. S. Ghazali, S. Sidek, and S. Wok, "Affective State Classification using Bayesian Classifier," in IEEE Fifth International Conference on Intelligent System, Modelling and Simulation (ISMS2014) Langkawi, Malaysia, 2014.
A. S. Ghazali and S. N. i. Sidek, "Non-invasive non-contact based affective state identification," in Computer Applications and Industrial Electronics (ISCAIE), 2014 IEEE Symposium on, 2014, pp. 1-5.
R. Alur, "Formal verification of hybrid systems," in Embedded Software (EMSOFT), 2011 Proceedings of the International Conference on, 2011, pp. 273-278.
E. Dugyun and N. Sarkar, "A High-Level Controller For Robot-Assisted Rehabilitation," in Procedding the IEEE 28th EMBS Annual International Conference, 2006.
S. N. Sidek, A. S. Ghazali, and S. Wok, "Emotion Embodiment in Robot-Assisted Rehabilitation System Using Hybrid Automata," in Advanced Applied Informatics (IIAIAAI), 2014 IIAI 3rd International Conference on, 2014, pp. 505-509.
M. Central. (2013, February, 27). MATLAB Support Package for Arduino (aka ArduinoIO Package). Available: http://www.mathworks.com/matlabcentral/fileexchange/32374-matlab-support-packagefor-arduino-aka-arduinoio-package
A. S. Ghazali and S. N. Sidek, "Electromagnetic Based Emotion Recognition Using ANOVA Feature Selection and Bayes Network," in 2014 IEEE Conferece on Biomedical Engineering and Sciences, 2014.