Recognition Method of Massage Techniques Based on Attention Mechanism and Convolutional Long Short-Term Memory Neural Network

Abstract

Identifying the massage techniques of the masseuse is a prerequisite for guiding robotic massage. It is difficult to recognize multiple consecutive massage maps with a time series for current human action recognition algorithms. To solve the problem, a method combining a convolutional neural network, long-term neural network, and attention mechanism is proposed to identify the massage techniques in this paper. First, the pressure distribution massage map is collected by a massage glove, and the data are enhanced by the conditional variational auto-encoder. Then, the features of the massage map group in the spatial domain and timing domain are extracted through the convolutional neural network and the long- and short-term memory neural network, respectively. The attention mechanism is introduced into the neural network, giving each massage map a different weight value to enhance the network extraction of data features. Finally, the massage haptic dataset is collected by a massage data acquisition system. The experimental results show that a classification accuracy of 100% is achieved. The results demonstrate that the proposed method could identify sequential massage maps, improve the network overfitting phenomenon, and enhance the network generalization ability effectively.

Keywords

• tactile sensor
• variational auto-encoder
• recurrent neural network
• attention mechanism