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This paper presents an approach to developing an assistive interface for human–robot interaction that provides users with customized haptic and visual feedback. The developed interface targets to improve users’ task performance by customizing assistance policy and level based on users’ performance and control strategy. To achieve this, the users’ control strategy was modeled based on inverse optimal...
This paper presents an approach for modeling user's driving-characteristics in a steering task, and determining the parameters of a virtual fixture to assist the user-control on the basis of his/her task-performances. First, we briefly introduce our assistive human-robot interaction (HRI) interface and a virtual fixture as backgrounds related to this research. The designed HRI interface provides assistance...
This paper examines the impact of delays on human performance and human strategies when remotely navigating autonomous vehicles, and develops a robust human inspired delay compensation. Vehicles chosen for the study are ground autonomous vehicles which are allowed to stop, providing an instrumental feature that enables it to capture some important human behavior. The effects of delay on human behavior...
In this paper we present results from a study on the performance of humans and automatic controllers in a general remote navigation task. The remote navigation task is defined as driving a vehicle with nonholonomic kinematic constraints around obstacles toward a goal. We conducted experiments with humans and automatic controllers; in these experiments, the number and type of obstacles as well as the...
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