Salient feature of haptic-ased guidance of people in low visibility environments using hard reins.

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Title: Salient feature of haptic-ased guidance of people in low visibility environments using hard reins.
Author(s): Ranasinghe, A
Sornkarn, N
Dasgupta, P
Althoefer, K
Penders, J
Nanayakkara, T
Item Type: Journal Article
Abstract: This paper presents salient features of human-human interaction where one person with limited auditory and visual perception of the environment (a follower) is guided by an agent with full perceptual capabilities (a guider) via a hard rein along a given path. We investigate several salient features of the interaction between the guider and follower such as: 1) the order of an autoregressive (AR) control policy that maps states of the follower to actions of the guider; 2) how the guider may modulate the pulling force in response to the trust level of the follower; and 3) how learning may successively apportion the responsibility of control across different muscles of the guider. Based on experimental systems identification on human demonstrations from ten pairs of naive subjects, we show that guiders tend to adopt a third-order AR predictive control policy and followers tend to adopt second-order reactive control policy. Moreover, the extracted guider's control policy was implemented and validated by human-robot interaction experiments. By modeling the follower's dynamics with a time varying virtual damped inertial system, we found that it is the coefficient of virtual damping which is most sensitive to the trust level of the follower. We used these experimental insights to derive a novel controller that integrates an optimal order control policy with a push/pull force modulator in response to the trust level of the follower monitored using a time varying virtual damped inertial model.
Publication Date: 11-Jun-2015
Date of Acceptance: 22-Feb-2015
URI: http://hdl.handle.net/10044/1/50391
DOI: https://dx.doi.org/10.1109/TCYB.2015.2409772
ISSN: 2168-2267
Publisher: Institute of Electrical and Electronics Engineers
Start Page: 568
End Page: 579
Journal / Book Title: IEEE Transactions on Cybernetics
Volume: 46
Issue: 2
Copyright Statement: © 2015 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.
Keywords: Adult
Cybernetics
Equipment Design
Humans
Robotics
Touch
Visually Impaired Persons
Young Adult
Humans
Equipment Design
Touch
Robotics
Cybernetics
Adult
Visually Impaired Persons
Young Adult
Adult
Cybernetics
Equipment Design
Humans
Robotics
Touch
Visually Impaired Persons
Young Adult
Publication Status: Published
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering



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