Decision-making model for adaptive impedance control of teleoperation systems

Sofrony, Jorge; Corredor, Javier; Sofroni, Jorge; Peer, Angelika

Abstract

© 2008-2011 IEEE. This paper presents a haptic assistance strategy for teleoperation that makes a task and situation-specific compromise between improving tracking performance or human-machine interaction in partially structured environments via the scheduling of the parameters of an admittance controller. The proposed assistance strategy builds on decision-making models and combines one of them with impedance control techniques that are standard in bilateral teleoperation systems. Even though several decision-making models have been proposed in cognitive science, their application to assisted teleoperation and assisted robotics has hardly been explored yet. Experimental data supports the Drift-Diffusion model as a suitable scheduling strategy for haptic shared control, in which the assistance mechanism can be adapted via the parameters of reward functions. Guidelines to tune the decision making model are presented. The influence of the reward structure on the realized haptic assistances is evaluated in a user study and results are compared to the no assistance and human assistance case.

• Journal Article Type: Article
• Acceptance Date: May 5, 2016
• Publication Date: Jan 1, 2017
• Deposit Date: Jun 15, 2016
• Publicly Available Date: Jun 23, 2016
• Journal: IEEE Transactions on Haptics
• Print ISSN: 1939-1412
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 10
• Issue: 1
• Pages: 5-16
• DOI: https://doi.org/10.1109/TOH.2016.2581807
• Keywords: haptics, shared control, decision-making, assistance, telerobotics, drift-diffusion model
• Public URL: https://uwe-repository.worktribe.com/output/910920
• Publisher URL: http://dx.doi.org/10.1109/TOH.2016.2581807
• Additional Information: Additional Information : (c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
• Contract Date: Jun 15, 2016