A Two Party Haptic Guidance Controller Via a Hard Rein

Ranasinghe, Anuradha and Penders, Jacques and Dasgupta, Prokar and Althoefer, Kaspar and Nanayakkara, Thrishantha (2014) A Two Party Haptic Guidance Controller Via a Hard Rein. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 116-122. ISSN 2153-0858

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In the case of human intervention in disaster
response operations like indoor firefighting, where the environment
perception is limited due to thick smoke, noise in
the oxygen masks and clutter, not only limit the environmental
perception of the human responders, but also causes distress. An
intelligent agent (man/machine) with full environment perceptual
capabilities is an alternative to enhance navigation in such
unfavorable environments. Since haptic communication is the
least affected mode of communication in such cases, we consider
human demonstrations to use a hard rein to guide blindfolded
followers with auditory distraction to be a good paradigm to
extract salient features of guiding using hard reins. Based on
numerical simulations and experimental systems identification
based on demonstrations from eight pairs of human subjects, we
show that, the relationship between the orientation difference
between the follower and the guider, and the lateral swing
patterns of the hard rein by the guider can be explained by a
novel 3rd
order auto regressive predictive controller. Moreover,
by modeling the two party voluntary movement dynamics using
a virtual damped inertial model, we were able to model the
mutual trust between two parties. In the future, the novel
controller extracted based on human demonstrations can be
tested on a human-robot interaction scenario to guide a visually
impaired person in various applications like fire fighting, search
and rescue, medical surgery, etc.

Item Type: Article
Additional Information and Comments: (c) 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works."
Faculty / Department: Faculty of Science > Mathematics and Computer Science
Depositing User: Anuradha Dissanayake Mudiyanselage
Date Deposited: 08 Dec 2016 15:47
Last Modified: 05 Mar 2018 01:49
URI: https://hira.hope.ac.uk/id/eprint/1736

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