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Autonomous Robots
Erschienen in: Autonomous Robots 5/2018

07.11.2017

Skill-based human–robot cooperation in tele-operated path tracking

verfasst von: Nima Enayati, Giancarlo Ferrigno, Elena De Momi

Erschienen in: Autonomous Robots | Ausgabe 5/2018

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Abstract

This work proposes a shared-control tele-operation framework that adapts its cooperative properties to the estimated skill level of the operator. It is hypothesized that different aspects of an operator’s performance in executing a tele-operated path tracking task can be assessed through conventional machine learning methods using motion-based and task-related features. To identify performance measures that capture motor skills linked to the studied task, an experiment is conducted where users new to tele-operation, practice towards motor skill proficiency in 7 training sessions. A set of classifiers are then learned from the acquired data and selected features, which can generate a skill profile that comprises estimations of user’s various competences. Skill profiles are exploited to modify the behavior of the assistive robotic system accordingly with the objective of enhancing user experience by preventing unnecessary restriction for skilled users. A second experiment is implemented in which novice and expert users execute the path tracking on different pathways while being assisted by the robot according to their estimated skill profiles. Results validate the skill estimation method and hint at feasibility of shared-control customization in tele-operated path tracking.
Vorheriger Artikel Early prediction for physical human robot collaboration in the operating room
Nächster Artikel Robot adaptation to human physical fatigue in human–robot co-manipulation

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Metadaten
Titel
Skill-based human–robot cooperation in tele-operated path tracking
verfasst von
Nima Enayati
Giancarlo Ferrigno
Elena De Momi
Publikationsdatum
07.11.2017
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 5/2018
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-017-9675-4

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