| 山本 啓太 | M, 2回目発表 | ヒューマンロボティクス | 和田 隆広 | 松原 崇充 | 劉 海龍 | 織田 泰彰 | 本司 澄空 |
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title: Adaptive adjustment of the level of haptic authority based on controller performance
abstract: In haptic shared control (HSC), a human operator and an autonomous controller share a common, physical control interface to control the same robot simultaneously. Through the haptic interaction, the human operator can receive support from the autonomous controller, improving task performance and reducing the human workload. However, when the machine support and the human intended input disagree, the human operator is required to override the support, negatively impacting the task performance and the operator workload. Because degraded controller performance causes conflict, allowing the operator to adjust the strength of the force exerted by the autonomous controller based on its performance can alleviate the problem. In the last study, the sensor reliability was utilized to evaluate the controller performance and recommend an appropriate haptic strength. The present study assumed the controller performance is directly obtained and investigated the methods to adjust haptic strength adaptively. language of the presentation: English | |||||||