Human Control Model Estimation in Physical Human–Machine Interaction: A Survey

Abstract

The study of human–machine interaction as a unique control system was one of the first research interests in the engineering field, with almost a century having passed since the first works appeared in this area. At the same time, it is a crucial aspect of the most recent technological developments made in application fields such as collaborative robotics and artificial intelligence. Learning the processes and dynamics underlying human control strategies when interacting with controlled elements or objects of a different nature has been the subject of research in neuroscience, aerospace, robotics, and artificial intelligence. The cross-domain nature of this field of study can cause difficulties in finding a guiding line that links motor control theory, modelling approaches in physiological control systems, and identifying human–machine general control models in manipulative tasks. The discussed models have varying levels of complexity, from the first quasi-linear model in the frequency domain to the successive optimal control model. These models include detailed descriptions of physiologic subsystems and biomechanics. The motivation behind this work is to provide a complete view of the linear models that could be easily handled both in the time domain and in the frequency domain by using a well-established methodology in the classical linear systems and control theory.

Human Computer Interaction Applications in Healthcare: An Integrative Review

“…Similarly [A. Scibilia et al 2022] surveyed a mathematical model regarding calculation of approximate time for manipulation of neuromuscular system tasks. In this study the author takes different variables to identify various factors of the neuromuscular dynamic function.…”

Research on Simulation System for Human-SRL Collaborative Motion Planning

“…In addition, there are many other ways to realize the interaction between human and SRL. Some mathematical models that describe how humans interact with machines through human behavior (for example, physiological behavior or neurological behavior) are summarized in [24]. Tese models attempt to mathematically formulate certain phenomena of the human biological sciences and are worthy of our in-depth study.…”

Inverse Optimal Control for the identification of human objective: a preparatory study for physical Human-Robot Interaction

“…Given the definition of the direct Optimal Control Problem as in (5), this section addresses the Inverse Optimal Control problem. That is, given observed state and control histories, denoted as z and ūh , given the system dynamics in (2), recover the cost function ( 4) that produced such control histories.…”

“…Such models span from elementary models (humans as a spring) to complex neuromuscular models and Optimal Control models, depending on the need. For a complete and up-to-date review, please see [5].…”