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Multisensory Integration For Adaptive Physical Human Robot Interaction
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Book Synopsis Multisensory Integration for Adaptive Physical Human-robot Interaction by : Isura Ranatunga
Download or read book Multisensory Integration for Adaptive Physical Human-robot Interaction written by Isura Ranatunga and published by . This book was released on 2017 with total page 145 pages. Available in PDF, EPUB and Kindle. Book excerpt: Automated systems have become increasingly prevalent in the 21st century. With their increased processing power, personal and home robotics has finally come within reach of the public. There are some challenges to be overcome for robots to finally work with and around humans. Some of these challenges include complex social interaction, safety, identifying human intent, unpredictable physical interaction, and uncertain dynamic environments. The focus of this research is safe, robust, and intuitive physical interaction with humans utilizing multiple sensor modalities. In this dissertation, a solution for adaptive physical human-robot interaction is proposed. The proposed framework consists of three parts. Dynamics compensation: adaptive dynamics compensation is proposed and extended to control complex, nonlinear, and constantly changing robotic systems. Adaptive force control: adaptive inverse control techniques are utilized to develop an admittance control system to compensate for changing task, sensor, and human conditions during interaction. Human motion study: Dynamic time warping is utilized as a method for movement characterization and dynamic movement primitives are used to develop a scalable and adaptable movement representation system. The proposed framework was inspired by the structure of the human motor cortex and somatosensory systems. An inner-loop control structure performs the function of the lower level fast dynamic compensation system while an outer-loop adaptive force controller enables task, sensor, and human specific control. This type of controller can adapt to the changing dynamics of the robot as well as compensate for the changing environmental sensing capacity and interaction scenario
Book Synopsis Human-in-the-Loop Robot Control and Learning by : Luka Peternel
Download or read book Human-in-the-Loop Robot Control and Learning written by Luka Peternel and published by Frontiers Media SA. This book was released on 2020-01-22 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the past years there has been considerable effort to move robots from industrial environments to our daily lives where they can collaborate and interact with humans to improve our life quality. One of the key challenges in this direction is to make a suitable robot control system that can adapt to humans and interactively learn from humans to facilitate the efficient and safe co-existence of the two. The applications of such robotic systems include: service robotics and physical human-robot collaboration, assistive and rehabilitation robotics, semi-autonomous cars, etc. To achieve the goal of integrating robotic systems into these applications, several important research directions must be explored. One such direction is the study of skill transfer, where a human operator’s skilled executions are used to obtain an autonomous controller. Another important direction is shared control, where a robotic controller and humans control the same body, tool, mechanism, car, etc. Shared control, in turn invokes very rich research questions such as co-adaptation between the human and the robot, where the two agents can benefit from each other’s skills or must adapt to each other’s behavior to achieve effective cooperative task executions. The aim of this Research Topic is to help bridge the gap between the state-of-the-art and above-mentioned goals through novel multidisciplinary approaches in human-in-the-loop robot control and learning.
Book Synopsis Adaptive Optimal Control in Physical Human-robot Interaction by : Rebecca C Bell
Download or read book Adaptive Optimal Control in Physical Human-robot Interaction written by Rebecca C Bell and published by . This book was released on 2019 with total page 70 pages. Available in PDF, EPUB and Kindle. Book excerpt: What if there is a way to integrate prosthetics seamlessly with the human body and robots could help improve the lives of children with disabilities? With physical human-robot interaction being seen in multiple aspects of life, including industry, medical, and social, how these robots are interacting with human becomes even more important. Therefore, how smoothly the robot can interact with a person will determine how safe and efficient this relationship will be. This thesis investigates adaptive control method that allows a robot to adapt to the human's actions based on the interaction force. Allowing the relationship to become more effortless and less strained when the robot has a different goal than the human, as seen in Game Theory, using multiple techniques that adapts the system. Few applications this could be used for include robots in physical therapy, manufacturing robots that can adapt to a changing environment, and robots teaching people something new like dancing or learning how to walk after surgery.The experience gained is the understanding of how a cost function of a system works, including the tracking error, speed of the system, the robot's effort, and the human's effort. Also, this two-agent system, results into a two-agent adaptive impedance model with an input for each agent of the system. This leads to a nontraditional linear quadratic regulator (LQR), that must be separated and then added together. Thus, creating a traditional LQR. This new experience can be used in the future to help build better safety protocols on manufacturing robots. In the future the knowledge learned from this research could be used to develop technologies for a robot to allow to adapt to help counteract human error.
Book Synopsis New Frontiers in Human-robot Interaction by : Kerstin Dautenhahn
Download or read book New Frontiers in Human-robot Interaction written by Kerstin Dautenhahn and published by John Benjamins Publishing. This book was released on 2011 with total page 339 pages. Available in PDF, EPUB and Kindle. Book excerpt: HumanRobot Interaction (HRI) considers how people can interact with robots in order to enable robots to best interact with people. HRI presents many challenges with solutions requiring a unique combination of skills from many fields, including computer science, artificial intelligence, social sciences, ethology and engineering. We have specifically aimed this work to appeal to such a multi-disciplinary audience. This volume presents new and exciting material from HRI researchers who discuss research at the frontiers of HRI. The chapters address the human aspects of interaction, such as how a robot may understand, provide feedback and act as a social being in interaction with a human, to experimental studies and field implementations of humanrobot collaboration ranging from joint action, robots practically and safely helping people in real world situations, robots helping people via rehabilitation and robots acquiring concepts from communication. This volume reflects current trends in this exciting research field.
Book Synopsis Integrated Multi-modal and Sensorimotor Coordination for Enhanced Human-Robot Interaction by : Bin Fang
Download or read book Integrated Multi-modal and Sensorimotor Coordination for Enhanced Human-Robot Interaction written by Bin Fang and published by Frontiers Media SA. This book was released on 2021-06-08 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Human-Robot Interaction by : Ramana Vinjamuri
Download or read book Human-Robot Interaction written by Ramana Vinjamuri and published by BoD – Books on Demand. This book was released on 2023-05-10 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book Human-Robot Interaction - Perspectives and Applications highlights the latest developments and obstacles in the field of human-machine interaction, including collaborative and humanoid robots, symbiosis between humans and robots, human-human collaboration, and robotics. Human-robot interaction has immense potential in areas like healthcare, education, manufacturing, military, and space exploration. This volume consists of several chapters that explore various topics such as the use of robotic wheelchairs, deep neural networks for robot grasp recognition, materials and sensors required for human-robot interaction, the use of drone technology in agriculture, healthcare robots in smart hospitals, and more.
Book Synopsis Advances in Human-Robot Interaction by : Erwin Prassler
Download or read book Advances in Human-Robot Interaction written by Erwin Prassler and published by Springer Science & Business Media. This book was released on 2004-10-27 with total page 434 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Advances in Human-Robot Interaction" provides a unique collection of recent research in human-robot interaction. It covers the basic important research areas ranging from multi-modal interfaces, interpretation, interaction, learning, or motion coordination to topics such as physical interaction, systems, and architectures. The book addresses key issues of human-robot interaction concerned with perception, modelling, control, planning and cognition, covering a wide spectrum of applications. This includes interaction and communication with robots in manufacturing environments and the collaboration and co-existence with assistive robots in domestic environments. Among the presented examples are a robotic bartender, a new programming paradigm for a cleaning robot, or an approach to interactive teaching of a robot assistant in manufacturing environment. This carefully edited book reports on contributions from leading German academic institutions and industrial companies brought together within MORPHA, a 4 year project on interaction and communication between humans and anthropomorphic robot assistants.
Book Synopsis Physical Human Robot Interaction Using Model Reference Neuroadaptive Control by : Shaikh Md Rubayiat Tousif
Download or read book Physical Human Robot Interaction Using Model Reference Neuroadaptive Control written by Shaikh Md Rubayiat Tousif and published by . This book was released on 2017 with total page 58 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this work Physical Human-Robot Interaction (pHRI) related problems are addressed as a part of the research going on in Assistive Robotics in the University of Texas Research Institute (UTARI). A novel model reference Neuroadaptive controller is designed based on existing technology of Lewis et al. Adaptive impedance control is an important method for force/motion control of robotic systems. Most of the work in adaptive impedance control makes the error dynamics of the system to look like a prescribed model. By contrast, this work does not want the error dynamics to be prescribed as an impedance model. It makes the robot itself feel like a prescribed impedance model. Model reference behavior is introduced which allows to control the interaction behavior by changing the parameters suitably in the model. The novel controller makes the nonlinear dynamics of the robot to look like a linear model which will be more convenient for humans to interact with during task manipulation. In this thesis a new inner-outer loop Neuroadaptive controller is formulated that makes pHRI robust to changes in both co-robot and human user. First, an inner-loop controller with guaranteed robustness and stability causes a robot to behave like a prescribed robot impedance model. Second, an outer-loop controller tunes the impedance model so that the robot system assists humans with varying levels of skill to achieve task-specific objectives. The controller developed in this work has been proved to work and to facilitate the illustration of the theories established, extensive simulations have been carried out on a 2 DOF robotic arm. The simulations results show good agreements with the theoretical concepts.
Book Synopsis Multimodal Signal Processing by : Jean-Philippe Thiran
Download or read book Multimodal Signal Processing written by Jean-Philippe Thiran and published by Academic Press. This book was released on 2009-11-11 with total page 343 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multimodal signal processing is an important research and development field that processes signals and combines information from a variety of modalities – speech, vision, language, text – which significantly enhance the understanding, modelling, and performance of human-computer interaction devices or systems enhancing human-human communication. The overarching theme of this book is the application of signal processing and statistical machine learning techniques to problems arising in this multi-disciplinary field. It describes the capabilities and limitations of current technologies, and discusses the technical challenges that must be overcome to develop efficient and user-friendly multimodal interactive systems. With contributions from the leading experts in the field, the present book should serve as a reference in multimodal signal processing for signal processing researchers, graduate students, R&D engineers, and computer engineers who are interested in this emerging field. - Presents state-of-art methods for multimodal signal processing, analysis, and modeling - Contains numerous examples of systems with different modalities combined - Describes advanced applications in multimodal Human-Computer Interaction (HCI) as well as in computer-based analysis and modelling of multimodal human-human communication scenes.
Book Synopsis Human-Robot Body Experience by : Philipp Beckerle
Download or read book Human-Robot Body Experience written by Philipp Beckerle and published by Springer Nature. This book was released on 2021-06-01 with total page 102 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph presents innovative research regarding the body experience of human individuals who are using assistive robotic devices such as wearable robots or teleoperation systems. The focus is set on human-in-the-loop experiments that help to empirically evaluate how users experience devices. Moreover, these experiments allow for further examination of the underlying mechanisms of body experience through extending existing psychological paradigms, e.g., by disentangling tactile feedback from contacts. Besides reporting and discussing psychological examinations, the influence of various aspects of engineering design is investigated, e.g., different implementations of haptic interfaces or robot control. As haptics are of paramount importance in this tight type of human-robot interaction, it is explored with respect to modality as well as temporal and spatial effects. The first part of the book motivates the research topic and gives an in-depth analysis of the experimental requirements. The second and third part present experimental designs and studies of human-robot body experience regarding the upper and lower limbs as well as cognitive models to predict them. The fourth part discusses a multitude of design considerations and provides directions to guide future research on bidirectional human-machine interfaces and non-functional haptic feedback.
Book Synopsis Adaptive Methods for Realistic and Intuitive Human-robot Interaction by : Jartuwat Rajruangrabin
Download or read book Adaptive Methods for Realistic and Intuitive Human-robot Interaction written by Jartuwat Rajruangrabin and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Due to the advancement in robotics and computer technology, having access to sophisticated robot hardware is becoming common. An increase in the number of robots allows one to achieve different kind of tasks by exploiting cooperation, such as: robot swarms, object manipulation using multiple degrees of freedom of different robots. It is quite challenging for the human operator to coordinate multiple robots to achieve a task in an efficient manner. The channels available to receive feedback information from the robot system can vary from simple encoder reading to video stream acquisition of the robot system performing tasks. It is important for us to make use of and coordinate as many sensing modalities as it is required to perform necessary tasks. On the other hand, we would want to keep the number of modalities utilized optimal just to maintain usage intuitiveness for human operators and efficiency. In this dissertation, we have investigated 3 different modalities of interaction with robots. Physical sensing: we present a novel approach to enhance human-robot interactivity through the use of artificial skin and the Extended Kalman filter. Visual sensing: we present a novel approach to enhance interaction of humanoid robot actor through the use of pose estimation and visual servoing. Interface devices: we present a work on combining dynamic gestures based commands from an interface device to improve the intuitiveness of control / planning of multiple degrees of freedom robot system through reinforcement learning. We propose an efficient way to coordinate multiple modalities sensing as generalized interface for multiple robots manipulation / planning. In addition, performance metrics are proposed so that we have the quantitative way to identify our interaction efficiency. Eventually, the outcome of this research is a reconfigurable multiple interfaces system that can be used with different multiple robots system in a way that it is easy and intuitive for the human operator to learn to operate.
Book Synopsis Rising Stars in Human-Robot Interaction by : Bilge Mutlu
Download or read book Rising Stars in Human-Robot Interaction written by Bilge Mutlu and published by Frontiers Media SA. This book was released on 2022-08-11 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Body Representations, Peripersonal Space, and the Self: Humans, Animals, Robots by : Matej Hoffmann
Download or read book Body Representations, Peripersonal Space, and the Self: Humans, Animals, Robots written by Matej Hoffmann and published by Frontiers Media SA. This book was released on 2020-07-22 with total page 242 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Trust in Human-Robot Interaction by : Chang S. Nam
Download or read book Trust in Human-Robot Interaction written by Chang S. Nam and published by Academic Press. This book was released on 2020-11-17 with total page 616 pages. Available in PDF, EPUB and Kindle. Book excerpt: Trust in Human-Robot Interaction addresses the gamut of factors that influence trust of robotic systems. The book presents the theory, fundamentals, techniques and diverse applications of the behavioral, cognitive and neural mechanisms of trust in human-robot interaction, covering topics like individual differences, transparency, communication, physical design, privacy and ethics. - Presents a repository of the open questions and challenges in trust in HRI - Includes contributions from many disciplines participating in HRI research, including psychology, neuroscience, sociology, engineering and computer science - Examines human information processing as a foundation for understanding HRI - Details the methods and techniques used to test and quantify trust in HRI
Book Synopsis Multi-Sensory Hybrid Navigation and Human-Robot Interaction of an Active Mobile Robotic Assistant for the Elderly People by :
Download or read book Multi-Sensory Hybrid Navigation and Human-Robot Interaction of an Active Mobile Robotic Assistant for the Elderly People written by and published by . This book was released on 2007 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Intrinsically Motivated Open-Ended Learning in Autonomous Robots by : Vieri Giuliano Santucci
Download or read book Intrinsically Motivated Open-Ended Learning in Autonomous Robots written by Vieri Giuliano Santucci and published by Frontiers Media SA. This book was released on 2020-02-19 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Universal Access in Human-Computer Interaction. Interaction Techniques and Environments by : Margherita Antona
Download or read book Universal Access in Human-Computer Interaction. Interaction Techniques and Environments written by Margherita Antona and published by Springer. This book was released on 2016-07-04 with total page 487 pages. Available in PDF, EPUB and Kindle. Book excerpt: The three-volume set LNCS 9737-9739 constitutes the refereed proceedings of the 10th International Conference on Universal Access in Human-Computer Interaction, UAHCI 2016, held as part of the 10th International Conference on Human-Computer Interaction, HCII 2016, in Toronto, ON, Canada in July 2016, jointly with 15 other thematically similar conferences. The total of 1287 papers presented at the HCII 2016 conferences were carefully reviewed and selected from 4354 submissions. The papers included in the three UAHCI 2016 volumes address the following major topics: novel approaches to accessibility; design for all and eInclusion best practices; universal access in architecture and product design; personal and collective informatics in universal access; eye-tracking in universal access; multimodal and natural interaction for universal access; universal access to mobile interaction; virtual reality, 3D and universal access; intelligent and assistive environments; universal access to education and learning; technologies for ASD and cognitive disabilities; design for healthy aging and rehabilitation; universal access to media and games; and universal access to mobility and automotive.
