A Deadband-Based Method for User Effort Reduction in Human-Robot Shared Control
von Ellenrieder KD
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SubjectHuman Operator Assistant System; Haptic Interface; Shared Control; Human-Robot Interaction; Ground Vehicles
In a human-robot collaboration framework, the authority over the execution of tasks can be shared between the human user and the automatic controller. In case of disagreement, the human user may exert a significant amount of effort opposing the robotic counterpart. Therefore, a prompt assessment of user intent is of the utmost importance in shared systems. In this paper a novel strategy, inspired by anti-windup techniques, is proposed to adjust the component of automatic control according to the sensed human effort. A haptic human-robot interface is developed and the method is validated in a shared control application in which both the human user and the automatic controller can steer a simulated ground vehicle. Evidence is shown that the proposed method can reduce the required human effort, with performance comparable to the state-of-the-art.
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Belotti R; von Ellenrieder KD (ASME, 2018)In human-robot shared control, control authority is shared between human operators and automatic systems. Switching from one state to another can make the overall system unstable, even though the stability in each state ...
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