This paper presents identifications of human-human interaction in which one person with limited auditory and visual perception of the environment (a follower) is guided by an agent with full perceptual capabilities (a guider) via a hard rein along a given path. We investigate several identifications of the interaction between the guider and the follower such as computational models that map states of the follower to actions of the guider and the computational basis of the guider to modulate the force on the rein in response to the trust level of the follower. Based on experimental identification systems on human demonstrations show that the guider and the follower experience learning for an optimal stable state-dependent novel 3rd and 2nd order auto-regressive predictive and reactive control policies respectively. By modeling the follower's dynamics using a time varying virtual damped inertial system, we found that the coefficient of virtual damping is most appropriate to explain the trust level of the follower at any given time. Moreover, we present the stability of the extracted guiding policy when it was implemented on a planar 1-DoF robotic arm. Our findings provide a theoretical basis to design advanced human-robot interaction algorithms applicable to a variety of situations where a human requires the assistance of a robot to perceive the environment.


    Access

    Download


    Export, share and cite



    Title :

    Identification of Haptic Based Guiding Using Hard Reins



    Publication date :

    2015-07-22


    Remarks:

    Dissanayake Mudiyanselage , A , Dasgupta , P , Althoefer , K & Nanayakkara , T 2015 , ' Identification of Haptic Based Guiding Using Hard Reins ' , PL o S One , vol. 10 , no. 7 , e0132020 . https://doi.org/10.1371/journal.pone.0132020



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Salient Feature of Haptic-Based Guidance of People in Low Visibility Environments Using Hard Reins

    Ranasinghe, Anuradha / Sornkarn, Nantachai / Dasgupta, Prokar et al. | BASE | 2016

    Free access

    Spied! (Ralph Reins)

    Online Contents | 1995


    Insight - BA reins in again

    Online Contents | 1999


    Loosen reins on symposiums

    Online Contents | 1995


    Holding reins on 300,000 horsepower

    Wise, J.C. | Engineering Index Backfile | 1953