“…The acquired dataset of motions is used to train a machine learning model, which can be used afterwards for classifying observed motions at test time. Previous works have explored a variety of machine-learning architectures and models for this task, ranging from decision-trees (Sellmann et al, 2022) and non-parametric methods, such as k-Nearest Neighbor classification (Cai et al, 2019) and Support Vector Machine classifiers (Taati et al, 2012;Zhi et al, 2017) to parametric deep learning methods, such as a Multi-layer Perceptron (MLP) (Lin et al, 2021) or recurrent neural networks with Long Short-Term Memory (LSTM networks) (Zhi et al, 2017). A wide range of measurements including kinematics (Taati et al, 2012;Zhi et al, 2017;Sellmann et al, 2022), applied forces (Cai et al, 2019), and muscle activity (Ma et al, 2019) have been used as an input for these data -driven classifiers.…”