IRIS-02-410

A Segmentation Algorithm For the Comparison Of Human Limb Trajectories

Marc Pomplun and Maja J. Mataric

In this article, we present an analytical approach for movement evaluation and comparison. We develop a joint-space-based segmentation and comparison algorithm that calculates pairwise similarity of arm movement trajectories. To validate the algorithm, we collected sixty sample arm movement sequences from a subject imitating video demonstrations. We present the performance of our algorithm on that data set, and discuss the contributions of each of its components.