A Mahalanobis Taguchi Approach to Human Motion Control

Abstract

The problem of motion control is very difficult because the number of degrees of freedom is too large. There are researches using EMG, motion capture, etc. But these approaches are pursuing from the outside how we can control our motion successfully and they are analyzing the problem item by item. But we take the other way around and we attempted to pursue the problem from the inside and we introduced a holistic pattern based approach. The motion is represented as a pattern and successful motions are assembled and averaged to make up a standard pattern. And each time he moves, its pattern is compared with this standard pattern using Mahalanobis distance. If the distance is within an allowable distance, then his motion is successful, but if it exceeds the limit distance, it warns him that he has to adjust his motion and how much he has to.