Research Article

A Multilayer Hidden Markov Models-Based Method for Human-Robot Interaction

Figure 11

Results of FNNs, LHMMs, and UHMMs. (a) the raw 3D angular velocity; (b) the output of FNNs; (c) the LHMMs decision results compared with the ground truth; (d) the UHMMs decision results compared with the ground truth.
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(a)
384865.fig.0011b
(b)
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(c)
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(d)