Action representation of point to point movements: Classification with probability tube

Use of haptic robots in neurorehabilitation is gaining interest in the scientific community. One of the most favorable features of such systems is the possibility to integrate biomimetic features in the control. The control requires an action representation which is not available directly. We developed a method for arm movement action representation which considers expert movements as a stochastic process. This approach allows capturing of the variability of movement dynamics during skilled movement and later use of this action representation for the control of the haptic robot. We present here the method applied to the velocity space and introduce the probability tube as the tunnel where the width of the tunnel considers the variability.