Output details
13 - Electrical and Electronic Engineering, Metallurgy and Materials
Sheffield Hallam University
A Two Party Haptic Guidance Controller Via a Hard Rein
This paper presents a control policy for a guiding agent leading a sensory-deprived follower along an arbitrary path, as well as a method for estimating the confidence level of the follower – it is a unique contribution to the field. The work was conducted within the EPSRC-funded CASE studentship with AA Robotics. Data for building the models was collected from motion and force recordings taken in a human-human experiment in which blindfolded and headphone-wearing participants were guided by perceptually capable partners via a hard rein device. Additionally, numerical simulations were performed based on parameters estimated from the human experiments. The data yielded a 3rd order autoregressive predictive controller for the guider with tug force modulation based on follower confidence levels.