Learning shared control by demonstration for personalized wheelchair assistance
File(s)Kucukyilmaz-ToH18-artaGP.pdf (6.88 MB)
Accepted version
Author(s)
Kucukyilmaz, A
Demiris, Y
Type
Journal Article
Abstract
An emerging research problem in assistive robotics is the design of methodologies that allow robots to provide personalized assistance to users. For this purpose, we present a method to learn shared control policies from demonstrations offered by a human assistant. We train a Gaussian process (GP) regression model to continuously regulate the level of assistance between the user and the robot, given the user's previous and current actions and the state of the environment. The assistance policy is learned after only a single human demonstration, i.e., in one-shot. Our technique is evaluated in a one-of-a-kind experimental study, where the machine-learned shared control policy is compared to human assistance. Our analyses show that our technique is successful in emulating human shared control, by matching the location and amount of offered assistance on different trajectories. We observed that the effort requirement of the users were comparable between human-robot and human-human settings. Under the learned policy, the jerkiness of the user's joystick movements dropped significantly, despite a significant increase in the jerkiness of the robot assistant's commands. In terms of performance, even though the robotic assistance increased task completion time, the average distance to obstacles stayed in similar ranges to human assistance.
Date Issued
2018-07-01
Date Acceptance
2018-02-05
ISSN
1939-1412
Publisher
Institute of Electrical and Electronics Engineers
Start Page
431
End Page
442
Journal / Book Title
IEEE Transactions on Haptics
Volume
11
Issue
3
Copyright Statement
© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, 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 component of this work in other works.
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000444897800009&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Subjects
Science & Technology
Technology
Computer Science, Cybernetics
Computer Science
Assistive robotics
assistive mobility
Gaussian processes
haptic shared control
human factors
human-like assistance
intelligent wheelchairs
learning by demonstration
user modelling
Publication Status
Published
Date Publish Online
2018-02-12