HapticV1, PubMed, Corpus, bibRecord, 000291

Identification of Haptic Based Guiding Using Hard Reins.

Identifieur interne : 000291 ( PubMed/Corpus ); précédent : 000290; suivant : 000292

Identification of Haptic Based Guiding Using Hard Reins.

Auteurs : Anuradha Ranasinghe ; Prokar Dasgupta ; Kaspar Althoefer ; Thrishantha Nanayakkara

Source :

PloS one [ 1932-6203 ] ; 2015.

RBID : pubmed:26201076

English descriptors

KwdEn :
- Algorithms, Auditory Perception (physiology), Humans, Interpersonal Relations, Models, Theoretical, Robotics (methods), Visual Perception (physiology).
MESH :
- methods : Robotics.
- physiology : Auditory Perception, Visual Perception.
- Algorithms, Humans, Interpersonal Relations, Models, Theoretical.

Abstract

This paper presents identifications of human-human interaction in which 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 identifications of the interaction between the guider and the follower such as computational models that map states of the follower to actions of the guider and the computational basis of the guider to modulate the force on the rein in response to the trust level of the follower. Based on experimental identification systems on human demonstrations show that the guider and the follower experience learning for an optimal stable state-dependent novel 3rd and 2nd order auto-regressive predictive and reactive control policies respectively. By modeling the follower's dynamics using a time varying virtual damped inertial system, we found that the coefficient of virtual damping is most appropriate to explain the trust level of the follower at any given time. Moreover, we present the stability of the extracted guiding policy when it was implemented on a planar 1-DoF robotic arm. Our findings provide a theoretical basis to design advanced human-robot interaction algorithms applicable to a variety of situations where a human requires the assistance of a robot to perceive the environment.

DOI: 10.1371/journal.pone.0132020
PubMed: 26201076

Links to Exploration step

pubmed:26201076

Le document en format XML

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<author><name sortKey="Ranasinghe, Anuradha" sort="Ranasinghe, Anuradha" uniqKey="Ranasinghe A" first="Anuradha" last="Ranasinghe">Anuradha Ranasinghe</name>
<affiliation><nlm:affiliation>Department of Informatics/ Center for Robotics Research, King's College London, London, United Kingdom.</nlm:affiliation>
</affiliation>
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<author><name sortKey="Dasgupta, Prokar" sort="Dasgupta, Prokar" uniqKey="Dasgupta P" first="Prokar" last="Dasgupta">Prokar Dasgupta</name>
<affiliation><nlm:affiliation>MRC Center for Transplantation, DTIMB & NIHR BRC, King's College London, London, United Kingdom.</nlm:affiliation>
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<author><name sortKey="Althoefer, Kaspar" sort="Althoefer, Kaspar" uniqKey="Althoefer K" first="Kaspar" last="Althoefer">Kaspar Althoefer</name>
<affiliation><nlm:affiliation>Department of Informatics/ Center for Robotics Research, King's College London, London, United Kingdom.</nlm:affiliation>
</affiliation>
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<author><name sortKey="Nanayakkara, Thrishantha" sort="Nanayakkara, Thrishantha" uniqKey="Nanayakkara T" first="Thrishantha" last="Nanayakkara">Thrishantha Nanayakkara</name>
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<author><name sortKey="Nanayakkara, Thrishantha" sort="Nanayakkara, Thrishantha" uniqKey="Nanayakkara T" first="Thrishantha" last="Nanayakkara">Thrishantha Nanayakkara</name>
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<front><div type="abstract" xml:lang="en">This paper presents identifications of human-human interaction in which 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 identifications of the interaction between the guider and the follower such as computational models that map states of the follower to actions of the guider and the computational basis of the guider to modulate the force on the rein in response to the trust level of the follower. Based on experimental identification systems on human demonstrations show that the guider and the follower experience learning for an optimal stable state-dependent novel 3rd and 2nd order auto-regressive predictive and reactive control policies respectively. By modeling the follower's dynamics using a time varying virtual damped inertial system, we found that the coefficient of virtual damping is most appropriate to explain the trust level of the follower at any given time. Moreover, we present the stability of the extracted guiding policy when it was implemented on a planar 1-DoF robotic arm. Our findings provide a theoretical basis to design advanced human-robot interaction algorithms applicable to a variety of situations where a human requires the assistance of a robot to perceive the environment.</div>
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<CommentsCorrectionsList><CommentsCorrections RefType="Cites"><RefSource>J Biomech. 2001 Jun;34(6):733-40</RefSource>
<PMID Version="1">11470110</PMID>
</CommentsCorrections>
<CommentsCorrections RefType="Cites"><RefSource>Optom Vis Sci. 2001 May;78(5):282-9</RefSource>
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</CommentsCorrections>
<CommentsCorrections RefType="Cites"><RefSource>Nature. 2000 Oct 12;407(6805):742-7</RefSource>
<PMID Version="1">11048720</PMID>
</CommentsCorrections>
<CommentsCorrections RefType="Cites"><RefSource>J Neurosci Methods. 2002 May 15;116(2):165-77</RefSource>
<PMID Version="1">12044666</PMID>
</CommentsCorrections>
<CommentsCorrections RefType="Cites"><RefSource>J Neurosci. 2002 Sep 15;22(18):8201-11</RefSource>
<PMID Version="1">12223574</PMID>
</CommentsCorrections>
<CommentsCorrections RefType="Cites"><RefSource>Hum Factors. 2011 Oct;53(5):517-27</RefSource>
<PMID Version="1">22046724</PMID>
</CommentsCorrections>
<CommentsCorrections RefType="Cites"><RefSource>Nature. 1998 Aug 20;394(6695):780-4</RefSource>
<PMID Version="1">9723616</PMID>
</CommentsCorrections>
<CommentsCorrections RefType="Cites"><RefSource>Biol Cybern. 1999 Jul;81(1):39-60</RefSource>
<PMID Version="1">10434390</PMID>
</CommentsCorrections>
<CommentsCorrections RefType="Cites"><RefSource>Biol Cybern. 2006 Mar;94(3):233-44</RefSource>
<PMID Version="1">16380845</PMID>
</CommentsCorrections>
<CommentsCorrections RefType="Cites"><RefSource>PLoS Comput Biol. 2011 Nov;7(11):e1002253</RefSource>
<PMID Version="1">22072953</PMID>
</CommentsCorrections>
<CommentsCorrections RefType="Cites"><RefSource>IEEE Trans Biomed Eng. 1985 Jul;32(7):461-9</RefSource>
<PMID Version="1">4018827</PMID>
</CommentsCorrections>
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Identification of Haptic Based Guiding Using Hard Reins.

Identification of Haptic Based Guiding Using Hard Reins.

Source :

English descriptors

Abstract

Links to Exploration step

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