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dc.contributor.authorGeravand M
dc.contributor.authorWerner C
dc.contributor.authorHauer K
dc.contributor.authorPeer A
dc.contributor.editor
dc.date.accessioned2019-11-26T09:50:36Z
dc.date.available2019-11-26T09:50:36Z
dc.date.issued2016
dc.identifier.issn1875-4791
dc.identifier.urihttp://dx.doi.org/10.1007/s12369-016-0353-z
dc.identifier.urihttps://link.springer.com/article/10.1007/s12369-016-0353-z
dc.identifier.urihttps://bia.unibz.it/handle/10863/11554
dc.description.abstractMobility assistance robots provide support to elderly or patients during walking. The design of a safe and intuitive assistance behavior is one of the major challenges in this context. We present an integrated approach for the context-specific, on-line adaptation of the assistance level of a rollator-type mobility assistance robot by gain-scheduling of low-level robot control parameters. A human-inspired decision-making model, the drift-diffusion Model, is introduced as the key principle to gain-schedule parameters and with this to adapt the provided robot assistance in order to achieve a human-like assistive behavior. The mobility assistance robot is designed to provide (a) cognitive assistance to help the user following a desired path towards a predefined destination as well as (b) sensorial assistance to avoid collisions with obstacles while allowing for an intentional approach of them. Further, the robot observes the user long-term performance and fatigue to adapt the overall level of (c) physical assistance provided. For each type of assistance a decision-making problem is formulated that affects different low-level control parameters. The effectiveness of the proposed approach is demonstrated in technical validation experiments. Moreover, the proposed approach is evaluated in a user study with 35 elderly persons. Obtained results indicate that the proposed gain-scheduling technique incorporating ideas of human decision-making models shows a general high potential for the application in adaptive shared control of mobility assistance robots.en_US
dc.languageEnglish
dc.language.isoenen_US
dc.relation
dc.rights
dc.titleAn Integrated Decision Making Approach for Adaptive Shared Control of Mobility Assistance Robotsen_US
dc.typeArticleen_US
dc.date.updated2019-11-26T03:00:57Z
dc.publication.title
dc.language.isiEN-GB
dc.journal.titleInternational Journal of Social Robotics
dc.description.fulltextopenen_US


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