Inclusive Human Intention Prediction with Wearable Sensors: Machine Learning Techniques for the Reaching Task Use Case †

Abstract

Human intentions prediction is gaining importance with the increase of human–robot interaction challenges in several contexts, such as industrial and clinical. This paper compares Linear Discriminant Analysis (LDA) and Random Forest (RF) performance in predicting the intention of moving towards a target during reaching movements on ten subjects wearing four electromagnetic sensors. LDA and RF prediction accuracy is compared to observation-sample dimension and noise presence, training and prediction time. Both algorithms achieved good accuracy, which improves as the sample dimension increases, although LDA presents better results for the current dataset.