Exoskeleton-Based Multimodal Action and Movement Recognition: Identifying and Developing the Optimal Boosted Learning Approach

Abstract

This paper makes two scientific contributions to the field of exoskeleton-based action and movement recognition. First, it presents a novel machine learning and pattern recognition-based framework that can detect a wide range of actions and movements - walking, walking upstairs, walking downstairs, sitting, standing, lying, stand to sit, sit to stand, sit to lie, lie to sit, stand to lie, and lie to stand, with an overall accuracy of 82.63%. Second, it presents a comprehensive comparative study of different learning approaches - Random Forest, Artificial Neural Network, Decision Tree, Multiway Decision Tree, Support Vector Machine, k-NN, Gradient Boosted Trees, Decision Stump, AutoMLP, Linear Regression, Vector Linear Regression, Random Tree, Naïve Bayes, Naïve Bayes (Kernel), Linear Discriminant Analysis, Quadratic Discriminant Analysis, and Deep Learning applied to this framework. The performance of each of these learning approaches was boosted by using the AdaBoost algorithm, and the Cross Validation approach was used for training and testing. The results show that in boosted form, the k-NN classifier outperforms all the other boosted learning approaches and is, therefore, the optimal learning method for this purpose. The results presented and discussed uphold the importance of this work to contribute towards augmenting the abilities of exoskeleton-based assisted and independent living of the elderly in the future of Internet of Things-based living environments, such as Smart Homes. As a specific use case, we also discuss how the findings of our work are relevant for augmenting the capabilities of the Hybrid Assistive Limb exoskeleton, a highly functional lower limb exoskeleton.