Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are restrictive and often lack environmental context. We propose a novel approach that predicts future sequences of both hand poses and joint positions. This method integrates gaze information, historical hand motion sequences, and environmental object data, adapting dynamically to the assistive needs of the patient without prior knowledge of the intended object for grasping. Specifically, we use a vector-quantized variational autoencoder for robust hand pose encoding with an autoregressive generative transformer for effective hand motion sequence prediction. We demonstrate the usability of these novel techniques in a pilot study with healthy subjects. To train and evaluate the proposed method, we collect a dataset consisting of various types of grasp actions on different objects from multiple subjects. Through extensive experiments, we demonstrate that the proposed method can successfully predict sequential hand movement. Especially, the gaze information shows significant enhancements in prediction capabilities, particularly with fewer input frames, highlighting the potential of the proposed method for real-world applications.

Seat pressure maps are often used to evaluate comfort of the users. In this study, we explored the relationships between pressure maps and comfort/discomfort of users in aircraft seats with a focus on a new 6-division method on the pressure maps collected at the bottom of the cushions. An experiment was designed where three cushions with identical shapes but different stiffnesses were prepared. 33 subjects joined the experiment and after sitting on each cushion in 4 postures, they completed comfort questionnaires. Pressure maps on the top as well as the bottom of cushions were collected and analysed. Results indicated that measures on the proposed 6 divisions, especially on the distal posterior thigh regions and regions close to ischial tuberosity of the bottom pressure maps, had larger correlation values to comfort scores compared to other division methods. Practitioner summary: The relations between comfort/discomfort and seat pressure maps collected from the top/bottom of three cushions were studied with 33 subjects in four postures. The distal posterior thigh and ischial tuberosity regions in the proposed 6-division of the bottom pressure maps had larger correlation values to comfort/discomfort compared to other methods.