COMPLETION REPORT
Socially Assistive Robot Exercise Coach for Elderly People
Dr. Loo Chu Kiong
Professor
University of Malaya

This research work presents a socially assistive robot (SAR) system developed for elderly people tohelp them perform multiple types of arm exercises. The experimental results and the survey haveshown a very positive response from the elderly people as well as high accuracy of the proposed
optimized Neuro-Fuzzy System for real-time arm gesture detection. In the presented SAR system, avirtual humanoid robot is developed to behave as a physical exercise instructor which is displayed ona large LCD screen in front of patient. The presented robotic exercise coaching system is completely
autonomous and doesn’t require any human intervention.
An Optimized Neuro-Fuzzy System (NFS) model is used for real-time identification of arm gestures.
This NFS model is optimized using both structural optimization and the parametric optimization.
Angular transformation scheme is applied to achieve the structural optimization while subtractive
clustering approach is used for parametric optimization of the system. Both the optimization schemes
resulted in much faster training of NFS model (several minutes) compared to other availabletechniques.
In the experimental session with 17 elderly volunteers (all of them ageing 60 years and above exceptfor 1), the presented NFS based gesture recognition framework was able to correctly identify most of
the gestures during exercise session. For all 17 elderly volunteers, a total of 373 gestures wereidentified during the experimental setup, out of which only 14 gestures were either not correctly
followed by the user or were wrongly identified. The presented Neuro-fuzzy based gesturerecognition system provided 96.4% accuracy.
In order get better understanding of their experience and to obtain the feedback during the exercise
session, a short survey questionnaire was presented to each of 17 elderly volunteers. The survey wascomposed of 16 questions split into 6 different categories and was developed based on well-known
research works. This survey has shown positive response from elderly in all the 6 categories, while insome categories the response was highly positive.
Overall the presented robotic exercise coaching system has shown very positive feedback from theelderly volunteers and the proposed Optimized Neuro-Fuzzy system has shown very high accuracy inpractical setup.

Publication of the Results of Research Project:
Verbal Presentation (Date, Venue, Name of Conference, Title of Presentation, Presenter, etc.)
Date :

1 ~3 September, 2017

Venue :

Himeji, Hyogo, Japan

Name of Conference :Title :

6th International Conference on Informatics, Electronics & Vision (ICIEV)
Neuro-Fuzzy Model with Subtractive Clustering Optimization for Arm
Gesture Recognition by Angular Representation of Kinect Data

Presenter :Dr. Takenori OboAuthors :Atif Ahmed, Prof. Dr. Loo Chu Kiong and Dr. Obo Takenori

Date :
Venue :Name of Conference :25 ~28 August 2016
Sapporo, Hokaido, Japan
Joint 8th International Conference on Soft Computing and Intelligent Systems
and 17th International Symposium on Advanced Intelligent Systems(SCIS&ISIS17)

Title :

Genetic Optimized Fuzzy Extreme Learning Machine Ensembles for AffectClassification

Presenter :Loo Chu Kiong

Authors :Wei Shiung Liew, Chu Kiong Loo, Takenori Obo

Date :
Venue :Name of Conference :25 ~28 August 2016
Sapporo, Hokaido, Japan
Joint 8th International Conference on Soft Computing and Intelligent Systems
and 17th International Symposium on Advanced Intelligent Systems(SCIS&ISIS17)

Title :

Health Promotion Using Smart Device Interlocked Robot Partners for ElderlyPeople

Presenter :Loo Chu Kiong

Authors :Siqi Sun, Takenori Obo, Chu Kiong Loo, Naoyuki Kubota

Thesis (Name of Journal and its Date, Title and Author of Thesis, etc.)
Title of Thesis :A Robotic Exercise Coaching System using Neuro-Fuzzy Model &Subtractive Clustering Optimization for arm gesture recognition with Angular
Representation of Kinect Sensor Data

Author of Thesis :Principal Supervisor :Title of Journal

Atif Ahmed [Post-Graduate Student at University Malaya]
Prof Dr. Loo Chu Kiong•Takenori Obo, Chu Kiong Loo, Manjeevan Seera, Takahiro Takeda,Naoyuki Kubota: Arm motion analysis using genetic algorithm forrehabilitation and healthcare. Appl. Soft Comput. 52: 81-92 (2017)•Takenori Obo, Chu Kiong Loo, Manjeevan Seera, Naoyuki Kubota:
Hybrid evolutionary neuro-fuzzy approach based on mutual
adaptation for human gesture recognition. Appl. Soft Comput. 42:
377-389 (2016)