Estimation of inertial parameters of manipulator loads and links
International Journal of Robotics Research
A theory of generalized inverses applied to robotics
International Journal of Robotics Research
Journal of the ACM (JACM)
An experimental study on the role of touch in shared virtual environments
ACM Transactions on Computer-Human Interaction (TOCHI) - Special issue on human-computer interaction and collaborative virtual environments
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Predictive Haptic Guidance: Intelligent User Assistance for the Control of Dynamic Tasks
IEEE Transactions on Visualization and Computer Graphics
Physical Collaboration of Human-Human and Human-Robot Teams
IEEE Transactions on Haptics
Human-robot collaboration in precise positioning of a three-dimensional object
Automatica (Journal of IFAC)
WHC '09 Proceedings of the World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Homotopy switching model for dyad haptic interaction in physical collaborative tasks
WHC '09 Proceedings of the World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Human motion in cooperative tasks: Moving object case study
ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
Virtual fixtures: Perceptual tools for telerobotic manipulation
VRAIS '93 Proceedings of the 1993 IEEE Virtual Reality Annual International Symposium
Haptic shared control: smoothly shifting control authority?
Cognition, Technology and Work - Special Issue on Human-automation Coagency
Haptic negotiation and role exchange for collaboration in virtual environments
HAPTIC '10 Proceedings of the 2010 IEEE Haptics Symposium
A new control architecture for physical human-robot interaction based on haptic communication
Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
Slaves no longer: review on role assignment for human-robot joint motor action
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Hi-index | 0.00 |
Since the strict separation of working spaces of humans and robots has experienced a softening due to recent robotics research achievements, close interaction of humans and robots comes rapidly into reach. In this context, physical human-robot interaction raises a number of questions regarding a desired intuitive robot behavior. The continuous bilateral information and energy exchange requires an appropriate continuous robot feedback. Investigating a cooperative manipulation task, the desired behavior is a combination of an urge to fulfill the task, a smooth instant reactive behavior to human force inputs and an assignment of the task effort to the cooperating agents. In this paper, a formal analysis of human-robot cooperative load transport is presented. Three different possibilities for the assignment of task effort are proposed. Two proposed dynamic role exchange mechanisms adjust the robot's urge to complete the task based on the human feedback. For comparison, a static role allocation strategy not relying on the human agreement feedback is investigated as well. All three role allocation mechanisms are evaluated in a user study that involves large-scale kinesthetic interaction and full-body human motion. Results show tradeoffs between subjective and objective performance measures stating a clear objective advantage of the proposed dynamic role allocation scheme.