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A Two Party Haptic Guidance Controller Via a Hard Rein

Research output: Chapter in Book/Report/Conference proceedingConference paper

Standard

A Two Party Haptic Guidance Controller Via a Hard Rein. / Dissanayake Mudiyanselage, Anuradha; Penders, Jacques; Dasgupta, Prokar; Althoefer, Kaspar; Nanayakkara, Thrishantha.

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Tokyo, Japan, 2013. p. 116.

Research output: Chapter in Book/Report/Conference proceedingConference paper

Harvard

Dissanayake Mudiyanselage, A, Penders, J, Dasgupta, P, Althoefer, K & Nanayakkara, T 2013, A Two Party Haptic Guidance Controller Via a Hard Rein. in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Tokyo, Japan, pp. 116.

APA

Dissanayake Mudiyanselage, A., Penders, J., Dasgupta, P., Althoefer, K., & Nanayakkara, T. (2013). A Two Party Haptic Guidance Controller Via a Hard Rein. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 116). Tokyo, Japan.

Vancouver

Dissanayake Mudiyanselage A, Penders J, Dasgupta P, Althoefer K, Nanayakkara T. A Two Party Haptic Guidance Controller Via a Hard Rein. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Tokyo, Japan. 2013. p. 116

Author

Dissanayake Mudiyanselage, Anuradha ; Penders, Jacques ; Dasgupta, Prokar ; Althoefer, Kaspar ; Nanayakkara, Thrishantha. / A Two Party Haptic Guidance Controller Via a Hard Rein. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Tokyo, Japan, 2013. pp. 116

Bibtex Download

@inbook{b858723b4aaf49f79c4b50ca40b20b90,
title = "A Two Party Haptic Guidance Controller Via a Hard Rein",
abstract = "In the case of human intervention in disaster response operations like indoor firefighting, where the environment perception is limited due to thick smoke, noise in the oxygen masks and clutter, not only limit the environmental perception of the human responders, but also causes distress. An intelligent agent (man/machine) with full environment perceptual capabilities is an alternative to enhance navigation in such unfavorable environments. Since haptic communication is the least affected mode of communication in such cases, we consider human demonstrations to use a hard rein to guide blindfolded followers with auditory distraction to be a good paradigm toextract salient features of guiding using hard reins. Based on numerical simulations and experimental systems identification based on demonstrations from eight pairs of human subjects, we show that, the relationship between the orientation difference between the follower and the guider, and the lateral swing patterns of the hard rein by the guider can be explained by a novel 3rd order auto regressive predictive controller. Moreover, by modeling the two party voluntary movement dynamics using a virtual damped inertial model, we were able to model the mutual trust between two parties. In the future, the novel controller extracted based on human demonstrations can be tested on a human-robot interaction scenario to guide a visually impaired person in various applications like fire fighting, search and rescue, medical surgery, etc.",
keywords = "Human robot interaction, Haptic based guidance",
author = "{Dissanayake Mudiyanselage}, Anuradha and Jacques Penders and Prokar Dasgupta and Kaspar Althoefer and Thrishantha Nanayakkara",
year = "2013",
month = "11",
day = "4",
language = "English",
pages = "116",
booktitle = "2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

}

RIS (suitable for import to EndNote) Download

TY - CHAP

T1 - A Two Party Haptic Guidance Controller Via a Hard Rein

AU - Dissanayake Mudiyanselage, Anuradha

AU - Penders, Jacques

AU - Dasgupta, Prokar

AU - Althoefer, Kaspar

AU - Nanayakkara, Thrishantha

PY - 2013/11/4

Y1 - 2013/11/4

N2 - In the case of human intervention in disaster response operations like indoor firefighting, where the environment perception is limited due to thick smoke, noise in the oxygen masks and clutter, not only limit the environmental perception of the human responders, but also causes distress. An intelligent agent (man/machine) with full environment perceptual capabilities is an alternative to enhance navigation in such unfavorable environments. Since haptic communication is the least affected mode of communication in such cases, we consider human demonstrations to use a hard rein to guide blindfolded followers with auditory distraction to be a good paradigm toextract salient features of guiding using hard reins. Based on numerical simulations and experimental systems identification based on demonstrations from eight pairs of human subjects, we show that, the relationship between the orientation difference between the follower and the guider, and the lateral swing patterns of the hard rein by the guider can be explained by a novel 3rd order auto regressive predictive controller. Moreover, by modeling the two party voluntary movement dynamics using a virtual damped inertial model, we were able to model the mutual trust between two parties. In the future, the novel controller extracted based on human demonstrations can be tested on a human-robot interaction scenario to guide a visually impaired person in various applications like fire fighting, search and rescue, medical surgery, etc.

AB - In the case of human intervention in disaster response operations like indoor firefighting, where the environment perception is limited due to thick smoke, noise in the oxygen masks and clutter, not only limit the environmental perception of the human responders, but also causes distress. An intelligent agent (man/machine) with full environment perceptual capabilities is an alternative to enhance navigation in such unfavorable environments. Since haptic communication is the least affected mode of communication in such cases, we consider human demonstrations to use a hard rein to guide blindfolded followers with auditory distraction to be a good paradigm toextract salient features of guiding using hard reins. Based on numerical simulations and experimental systems identification based on demonstrations from eight pairs of human subjects, we show that, the relationship between the orientation difference between the follower and the guider, and the lateral swing patterns of the hard rein by the guider can be explained by a novel 3rd order auto regressive predictive controller. Moreover, by modeling the two party voluntary movement dynamics using a virtual damped inertial model, we were able to model the mutual trust between two parties. In the future, the novel controller extracted based on human demonstrations can be tested on a human-robot interaction scenario to guide a visually impaired person in various applications like fire fighting, search and rescue, medical surgery, etc.

KW - Human robot interaction

KW - Haptic based guidance

M3 - Conference paper

SP - 116

BT - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

CY - Tokyo, Japan

ER -

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