Towards verifying the user of motion-controlled robotic arm systems via the robot behavior

Huang, L., Meng, Z., Deng, Z., Wang, C., Li, E. and Zhao, G. (2021) Towards verifying the user of motion-controlled robotic arm systems via the robot behavior. IEEE Internet of Things Journal, (doi: 10.1109/JIOT.2021.3121623) (Early Online Publication)

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Abstract

Motion-controlled robotic arms allow a user to interact with a remote real world without physically reaching it. By connecting cyberspace to the physical world, such interactive teleoperations are promising to improve remote education, virtual social interactions and online participatory activities. In this work, we build up a motion-controlled robotic arm framework comprising a robotic arm end and a user end, which are connected via a network and responsible for manipulator control and motion capture respectively. To protect the system access, we propose to verify who is controlling the robotic arm by examining the robotic arm’s behavior, which adds a second security layer in addition to the system login credentials. We show that a robotic arm’s motion inherits its human controller’s behavioral biometric in interactive control scenarios. By extracting the angle readings of the robotic arm’s all joints, the proposed user authentication approach reconstructs the robotic arm’s end-effector movement trajectory that follows the user’s hand. Furthermore, we derive the unique robotic motion features to capture the user’s behavioral biometric embedded in the robot motions and develop learning-based algorithms to verify the robotic arm user to be one of the enrolled users or a nonuser. Extensive experiments show that our system achieves 94% accuracy to distinguish users while preventing user identity spoofing attacks with 95% accuracy.

Item Type:Articles
Status:Early Online Publication
Refereed:Yes
Glasgow Author(s) Enlighten ID:Meng, Mr Zhen and Zhao, Dr Guodong and Li, Dr Emma
Authors: Huang, L., Meng, Z., Deng, Z., Wang, C., Li, E., and Zhao, G.
College/School:College of Science and Engineering > School of Engineering > Systems Power and Energy
Journal Name:IEEE Internet of Things Journal
Publisher:IEEE
ISSN:2327-4662
ISSN (Online):2327-4662
Published Online:20 October 2021
Copyright Holders:Copyright © 2021 IEEE
First Published:First published in IEEE Internet of Things Journal 2021
Publisher Policy:Reproduced in accordance with the publisher copyright policy

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Project CodeAward NoProject NamePrincipal InvestigatorFunder's NameFunder RefLead Dept
304896EPSRC-IAA: Early Stage Commercialisation of a PET Imaging Agent for the Detection of Cardiovascular Disease and CancerAndrew SutherlandEngineering and Physical Sciences Research Council (EPSRC)EP/R511705/1Chemistry