Role allocation through haptics in physical human-robot interaction

Kucukyilmaz, Ayse, Sezgin, Tevfik Metin and Basdogan, Cagatay (2013) Role allocation through haptics in physical human-robot interaction. In: 2013 21st Signal Processing and Communications Applications Conference (SIU). IEEE, pp. 1-5. ISBN 978-1-4673-5562-9, 978-1-4673-5563-6, 978-1-4673-5561-2


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This paper presents a summary of our efforts to enable dynamic role allocation between humans and robots in physical collaboration tasks. A major goal in physical human-robot interaction research is to develop tacit and natural communication between partners. In previous work, we suggested that the communication between a human and a robot would benefit from a decision making process in which the robot can dynamically adjust its control level during the task based on the intentions of the human. In order to do this, we define leader and follower roles for the partners, and using a role exchange mechanism, we enable the partners to negotiate solely through force information to exchange roles. We show that when compared to an “equal control” condition, the role exchange mechanism improves task performance and the joint efficiency of the partners.

Keywords:decision making, haptic interfaces, human-robot interaction, dynamic role allocation, haptics, physical human-robot interaction, Haptic Guidance
Subjects:H Engineering > H670 Robotics and Cybernetics
H Engineering > H671 Robotics
G Mathematical and Computer Sciences > G440 Human-computer Interaction
Divisions:College of Science > School of Computer Science
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ID Code:29369
Deposited On:22 Feb 2018 13:53

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