Engineering Commons^™

Continuous Operator Authentication For Teleoperated Systems Using Hidden Markov Models [Post-Print], Junjie Yan, Kevin Huang, Kyle Lindgren, Tamara Bonaci, Howard J. Chizeck

Faculty Scholarship

In this article, we present a novel approach for continuous operator authentication in teleoperated robotic processes based on Hidden Markov Models (HMM). While HMMs were originally developed and widely used in speech recognition, they have shown great performance in human motion and activity modeling. We make an analogy between human language and teleoperated robotic processes (i.e., words are analogous to a teleoperator's gestures, sentences are analogous to the entire teleoperated task or process) and implement HMMs to model the teleoperated task. To test the continuous authentication performance of the proposed method, we conducted two sets of analyses. We built a …