Hidden Markov Modeling of Human Pivoting
Yusuke Maeda, Tatsuya Ushioda · Journal of Robotics and Mechatronics · 2007
In modeling human movement using hidden Markov models (HMM), the “optimal” HMM with an appropriate number of states is determined based on the minimum description length (MDL) criterion. Human pivoting, typifying graspless manipulation, is modeled using Gaussian mixture HMMs. Analyzing the obtained HMMs using metric multidimensional scaling (MDS) showed the features of individual movement. Such dissimilarity analysis can be used to validate models of tacit skills in human manipulation.