Modeling and constraining human interactions in shared control utilizing a discrete event framework

Aigner, P.; McCarragher, B.J.

doi:10.1109/3468.844360

Cited by 28 publications

(15 citation statements)

References 22 publications

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“…There are many studies on the level of autonomy a robot might have when interacting with a human and viceversa (Aigner and McCarragher 2000;Bruemmer et al 2005;Horiguchi and Sawaragi 2005;Kofman et al 2005). Depending on the amount of autonomy given to the machine, collaborative approaches for human/machine control can be roughly categorized into i) safeguarded operation; and ii) shared control.…”

Section: Collaborative Controlmentioning

confidence: 99%

A new multi-criteria optimization strategy for shared control in wheelchair assisted navigation

et al. 2010

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In todays aging society, many people require mobility assistance, that can be provided by robotized assistive wheelchairs with a certain degree of autonomy when manual control is unfeasible due to disability.Robot wheelchairs, though, are not supposed to be completely in control because lack of human intervention may lead to loss of residual capabilities and frustration. Most of these systems rely on shared control, which typically consists of swapping control from human to robot when needed. However, this means that persons never deal with situations they find difficult. We propose a new shared control approach to allow constant cooperation between humans and robots, so that assistance may be adapted to the user's skills. Our proposal is based on the reactive navigation paradigm, where robot and human commands become different goals in a Potential Field. Our main novelty is that human and robot attractors are weighted by their respective local efficiencies at each time instant. This produces an emergent behavior that combines both inputs in an efficient, safe and smooth way and is dynamically adapted to the user's needs. The proposed control scheme has been successfully tested at hospital Fondazione Santa Lucia (FSL) in Rome with several volunteers presenting different disabilities.

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Section: Collaborative Controlmentioning

confidence: 99%

A new multi-criteria optimization strategy for shared control in wheelchair assisted navigation

et al. 2010

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“…Examples include wheelchairs (Tzafestas 2001;Simpson 2005), walkers (Yu et al 2003), robotic guide canes for the visually impaired (Aigner and McCarragher 2000), and robotic manipulators (Martens et al 2001;Tsui and Yanco 2007).…”

Section: Motivationmentioning

confidence: 98%

“…Various approaches exist for this automatic mode selection. One option is to merge the motion commands given by several assistance modes, though this is a less frequent approach (Aigner and McCarragher 2000). Another option is to select a single mode to be active, resulting in a winner-takes-all strategy, which is the prevailing strategy.…”

Section: Assistive Roboticsmentioning

confidence: 98%

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User-adapted plan recognition and user-adapted shared control: A Bayesian approach to semi-autonomous wheelchair driving

et al. 2007

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Many elderly and physically impaired people experience difficulties when maneuvering a powered wheelchair. In order to ease maneuvering, powered wheelchairs have been equipped with sensors, additional computing power and intelligence by various research groups.This paper presents a Bayesian approach to maneuvering assistance for wheelchair driving, which can be adapted to a specific user. The proposed framework is able to model and estimate even complex user intents, i.e. wheelchair maneuvers that the driver has in mind. Furthermore, it explicitly takes the uncertainty on the user's intent into account. Besides during intent estimation, user-specific properties and uncertainty on the user's intent are incorporated when taking assistive actions, such that assistance is tailored to the user's driving skills. This decision making is modeled as a greedy Partially Observable Markov Decision Process (POMDP).Benefits of this approach are shown using experimental results in simulation and on our wheelchair platform Sharioto.

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“…Shared control problems have been studied in [20], where a sharing rule based on a discrete event framework has been given, and in [21] where a continuous scalar function to guarantee the smooth transition from the human input to the control input has been designed. A scheme to distribute control authority among several inputs by introducing an augmented signal based on input's magnitude and rate saturation levels has been constructed in [22].…”

Section: Introductionmentioning

confidence: 99%

Output-feedback shared-control for fully actuated linear mechanical systems

Jiang

Astolfi

2014

2014 American Control Conference

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Abstract-This paper presents an output feedback sharedcontrol algorithm for fully-actuated, linear, mechanical systems. The feasible configurations of the system are described by a group of linear inequalities which characterize a convex admissible set. The properties of the shared-control algorithm are established with a Lyapunov-like analysis. Simple numerical examples demonstrate the effectiveness of the strategy.

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Modeling and constraining human interactions in shared control utilizing a discrete event framework

Cited by 28 publications

References 22 publications

A new multi-criteria optimization strategy for shared control in wheelchair assisted navigation

A new multi-criteria optimization strategy for shared control in wheelchair assisted navigation

User-adapted plan recognition and user-adapted shared control: A Bayesian approach to semi-autonomous wheelchair driving

Output-feedback shared-control for fully actuated linear mechanical systems

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