Smart ear-worn devices (called earables) are being equipped with various onboard sensors and algorithms, transforming earphones from simple audio transducers to multi-modal interfaces making rich inferences about human motion and vital signals. However, developing sensory applications using earables is currently quite cumbersome with several barriers in the way. First, time-series data from earable sensors incorporate information about physical phenomena in complex settings, requiring machine-learning (ML) models learned from large-scale labeled data. This is challenging in the context of earables because large-scale open-source datasets are missing. Secondly, the small size and compute constraints of earable devices make on-device integration of many existing algorithms for tasks such as human activity and head-pose estimation difficult. To address these challenges, we introduce Auritus, an extendable and open-source optimization toolkit designed to enhance and replicate earable applications. Auritus serves two primary functions. Firstly, Auritus handles data collection, pre-processing, and labeling tasks for creating customized earable datasets using graphical tools. The system includes an open-source dataset with 2.43 million inertial samples related to head and full-body movements, consisting of 34 head poses and 9 activities from 45 volunteers. Secondly, Auritus provides a tightly-integrated hardware-in-the-loop (HIL) optimizer and TinyML interface to develop lightweight and real-time machine-learning (ML) models for activity detection and filters for head-pose tracking. To validate the utlity of Auritus, we showcase three sample applications, namely fall detection, spatial audio rendering, and augmented reality (AR) interfacing. Auritus recognizes activities with 91% leave 1-out test accuracy (98% test accuracy) using real-time models as small as 6-13 kB. Our models are 98-740x smaller and 3-6% more accurate over the state-of-the-art. We also estimate head pose with absolute errors as low as 5 degrees using 20kB filters, achieving up to 1.6x precision improvement over existing techniques. We make the entire system open-source so that researchers and developers can contribute to any layer of the system or rapidly prototype their applications using our dataset and algorithms.
more »
« less
Head motion classification using thread-based sensor and machine learning algorithm
Abstract Human machine interfaces that can track head motion will result in advances in physical rehabilitation, improved augmented reality/virtual reality systems, and aid in the study of human behavior. This paper presents a head position monitoring and classification system using thin flexible strain sensing threads placed on the neck of an individual. A wireless circuit module consisting of impedance readout circuitry and a Bluetooth module records and transmits strain information to a computer. A data processing algorithm for motion recognition provides near real-time quantification of head position. Incoming data is filtered, normalized and divided into data segments. A set of features is extracted from each data segment and employed as input to nine classifiers including Support Vector Machine, Naive Bayes and KNN for position prediction. A testing accuracy of around 92% was achieved for a set of nine head orientations. Results indicate that this human machine interface platform is accurate, flexible, easy to use, and cost effective.
more »
« less
- NSF-PAR ID:
- 10285433
- Date Published:
- Journal Name:
- Scientific Reports
- Volume:
- 11
- Issue:
- 1
- ISSN:
- 2045-2322
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
This work presents a prototype of a wireless, flexible, self-powered sensor used to analyze head impact kinematics relevant to concussions, which are frequent in high contact sports. Two untethered, paper-thin, and flexible sensing devices with piezoelectric-like behavior are placed around the neck of a human head substitute and used to monitor stress/strain in this region during an impact. The mechanical energy exerted by an impact force –varied in locations and magnitudes– is converted to pulses of electric energy which are transmitted wirelessly to a smart device for storage and analysis. The wireless prototype system is presented using a microcontroller with an integrated Bluetooth Low Energy module. The static and dynamic characteristics of the transmitted signal are then compared to signals from accelerometers embedded in a head substitute, to map the sensor’s output to the angular velocity and acceleration during impacts. It is demonstrated that using only two sensors is enough to detect impacts coming from any direction; and that placing multiple external sensors around the neck region could provide accurate information on the dynamics of the head, during a collision, which other sensors fail to capture.more » « less
-
Modern robotics heavily relies on machine learning and has a growing need for training data. Advances and commercialization of virtual reality (VR) present an opportunity to use VR as a tool to gather such data for human-robot interactions. We present the Robot Interaction in VR simulator, which allows human participants to interact with simulated robots and environments in real-time. We are particularly interested in spoken interactions between the human and robot, which can be combined with the robot's sensory data for language grounding. To demonstrate the utility of the simulator, we describe a study which investigates whether a user's head pose can serve as a proxy for gaze in a VR object selection task. Participants were asked to describe a series of known objects, providing approximate labels for the focus of attention. We demonstrate that using a concept of gaze derived from head pose can be used to effectively narrow the set of objects that are the target of participants' attention and linguistic descriptions.more » « less
-
Human-robot collaboration systems benefit from recognizing people’s intentions. This capability is especially useful for collaborative manipulation applications, in which users operate robot arms to manipulate objects. For collaborative manipulation, systems can determine users’ intentions by tracking eye gaze and identifying gaze fixations on particular objects in the scene (i.e., semantic gaze labeling). Translating 2D fixation locations (from eye trackers) into 3D fixation locations (in the real world) is a technical challenge. One approach is to assign each fixation to the object closest to it. However, calibration drift, head motion, and the extra dimension required for real-world interactions make this position matching approach inaccurate. In this work, we introduce velocity features that compare the relative motion between subsequent gaze fixations and a finite set of known points and assign fixation position to one of those known points. We validate our approach on synthetic data to demonstrate that classifying using velocity features is more robust than a position matching approach. In addition, we show that a classifier using velocity features improves semantic labeling on a real-world dataset of human-robot assistive manipulation interactions.more » « less
-
Human-robot collaboration systems benefit from recognizing people’s intentions. This capability is especially useful for collaborative manipulation applications, in which users operate robot arms to manipulate objects. For collaborative manipulation, systems can determine users’ intentions by tracking eye gaze and identifying gaze fixations on particular objects in the scene (i.e., semantic gaze labeling). Translating 2D fixation locations (from eye trackers) into 3D fixation locations (in the real world) is a technical challenge. One approach is to assign each fixation to the object closest to it. However, calibration drift, head motion, and the extra dimension required for real-world interactions make this position matching approach inaccurate. In this work, we introduce velocity features that compare the relative motion between subsequent gaze fixations and a nite set of known points and assign fixation position to one of those known points. We validate our approach on synthetic data to demonstrate that classifying using velocity features is more robust than a position matching approach. In addition, we show that a classifier using velocity features improves semantic labeling on a real-world dataset of human-robot assistive manipulation interactions.more » « less
- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1038/s41598-021-81284-7
