NoohiEtAl(2016)IEEE-tRo32(4)880-896.pdf (2.3 MB)

A Model for Human-Human Collaborative Object Manipulation and Its Application to Human-Robot Interaction

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journal contribution
posted on 16.08.2021, 16:20 by E Noohi, Milos ZefranMilos Zefran, James PattonJames Patton
During collaborative object manipulation, the interaction forces provide a communication channel through which humans coordinate their actions. In order for the robots to engage in physical collaboration with humans, it is necessary to understand this coordination process. Unfortunately, there is no intrinsic way to define the interaction forces. In this study, we propose a model that allows us to compute the interaction force during a dyadic cooperative object manipulation task. The model is derived directly from the existing theories on human arm movements. The results of a user study with 22 human subjects prove the validity of the proposed model. The model is then embedded in a control strategy that enables the robot to engage in a cooperative task with a human. The performance evaluation of the controller through simulation shows that the control strategy is a promising candidate for a cooperative human-robot interaction.

Funding

HHC: RI Medium: Collaborative Research: Effective Comminication with Robotic Assistants for the Elderly | Funder: National Science Foundation | Grant ID: 0905593

NeTS Large: Collaborative Research: Context-Driven Management of Heterogeneous Sensor Networks | Funder: National Science Foundation | Grant ID: CNS-0910988

CPS: Small: Monitoring Techniques for Safety Critical Cyber-Physical Systems | Funder: National Science Foundation | Grant ID: CNS-1035914

History

Citation

Noohi, E., Zefran, M.Patton, J. L. (2016). A Model for Human-Human Collaborative Object Manipulation and Its Application to Human-Robot Interaction. IEEE Transactions on Robotics, 32(4), 880-896. https://doi.org/10.1109/TRO.2016.2572698

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

issn

1552-3098