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Output details

13 - Electrical and Electronic Engineering, Metallurgy and Materials

Sheffield Hallam University

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Output 6 of 110 in the submission

Output title

A Two Party Haptic Guidance Controller Via a Hard Rein

Type

E - Conference contribution

DOI

Name of conference/published proceedings

International Conference on Intelligent Robots and Systems (IROS), Nov 3-7, 2013, Tokyo, Japan

Volume number

N/A

Issue number

N/A

First page of article

N/A

ISSN of proceedings

Year of publication

2013

URL

Number of additional authors

Additional information

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.

Interdisciplinary

Cross-referral requested

Research group

None

Proposed double-weighted

Double-weighted statement

Reserve for a double-weighted output

Non-English

English abstract