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Improving tracking through human-robot sensory augmentation

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journal contribution
posted on 2023-06-07, 07:06 authored by Yanan LiYanan Li, Jonathan Eden, Gerolamo Carboni, Etienne Burdet
This paper introduces a sensory augmentation technique enabling a contact robot to understand its human user’s control in real-time and integrate their reference trajectory information into its own sensory feedback to improve its tracking performance. The human’s control is formulated as a feedback controller with unknown control gains and desired trajectory. An unscented Kalman ?lter is used to estimate ?rst the control gains and then the desired trajectory. The estimated human’s desired trajectory is used as augmented sensory information about the system and combined with the robot’s measurement to estimate a reference trajectory. Simulations and an implementation on a robotic interface demonstrate that the reactive control can robustly identify the human user’s control, and that the sensory augmentation improves the robot’s tracking performance.

Funding

The Game Theory of Human-Robot Interaction - HRIgame; G2929; EPSRC-ENGINEERING & PHYSICAL SCIENCES RESEARCH COUNCIL

History

Publication status

  • Published

File Version

  • Accepted version

Journal

IEEE Robotics and Automation Letters

ISSN

2377-3766

Publisher

Institute of Electrical and Electronics Engineers

Department affiliated with

  • Engineering and Design Publications

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2020-05-26

First Open Access (FOA) Date

2020-06-02

First Compliant Deposit (FCD) Date

2020-05-26

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