Anuradha, Ranasinghe and Prokar, Dasgupta and Kaspar, Althoefer and Thrishantha, Nanayakkara (2015) Identification of Haptic Based Guiding Using Hard Reins. PLOS ONE.
Download (1MB) | Preview
This paper presents identifications of human-human interaction in which one person with limited auditory and visual perception of the environment (a follower) is guided by an agent with full perceptual capabilities (a guider) via a hard rein along a given path. We investigate several identifications of the interaction between the guider and the follower such as computational models that map states of the follower to actions of the guider and the computational basis of the guider to modulate the force on the rein in response to the trust level of the fol- lower. Based on experimental identification systems on human demonstrations show that the guider and the follower experience learning for an optimal stable state-dependent novel 3 rd and 2 nd order auto-regressive predictive and reactive control policies respectively. By modeling the follower’s dynamics using a time varying virtual damped inertial system, we found that the coefficient of virtual damping is most appropriate to explain the trust level of the follower at any given time. Moreover, we present the stability of the extracted guiding policy when it was implemented on a planar 1-DoF robotic arm. Our findings provide a theoretical basis to design advanced human-robot interaction algorithms applicable to a variety of situations where a human requires the assistance of a robot to perceive the environment.
|Additional Information and Comments:||© 2015 Ranasinghe et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited|
|Faculty / Department:||Faculty of Science > Mathematics and Computer Science|
|Depositing User:||Anuradha Dissanayake Mudiyanselage|
|Date Deposited:||11 Oct 2016 11:30|
|Last Modified:||11 Oct 2016 11:30|
Actions (login required)