Resumen:
In this paper, we present a novel method to predict human motion, seeking to combine the advantages of both data-based and knowledge-based motion prediction methods. Our method relies on a database of captured motions for reference and introduces knowledge in the prediction in the form of a motion control law, which is followed while resembling the actually performed reference motion. The prediction is carried out by solving an optimization problem in which the following conditions are imposed to the motion: must fulfill the goals of the task; resemble the reference motion selected from the database; follow a knowledge-based dynamic motion control law; and ensure the dynamic equilibrium of the human model, considering its interactions with the environment. In this work, we apply the proposed method to a database of clutch pedal depression motions, and we present the results for three predictions. The method is validated by comparing the results of the prediction to motions actually performed in similar conditions. The predicted motions closely resemble the motions in the validation database and no significant differences have been noted either in the motion's kinematics or in the motion's dynamics.
