Continuous Operator Authentication for Teleoperated Systems Using Hidden Markov Models

نویسندگان

چکیده

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 speech recognition, they have shown great performance human motion activity modeling. We make an analogy between language (i.e., words are analogous to teleoperator’s gestures, sentences the entire task or process) implement model task. To test of proposed method, conducted two sets analyses. built virtual reality (VR) experimental environment using commodity VR headset (HTC Vive) haptic feedback enabled controller (Sensable PHANToM Omni) simulate real An study with 10 subjects was then conducted. also performed simulated by JHU-ISI Gesture Skill Assessment Working Set (JIGSAWS). The evaluated (real-time) accuracy as well resistance impersonation attack. results suggest that method is able achieve 70% (VR experiment) 81% (JIGSAWS dataset) classification short 1-second sample window. It capable detecting attack real-time.

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ژورنال

عنوان ژورنال: ACM Transactions on Cyber-Physical Systems

سال: 2022

ISSN: ['2378-962X', '2378-9638']

DOI: https://doi.org/10.1145/3488901