TY - GEN
T1 - Online intention recognition in computer-assisted teleoperation systems
AU - Stefanov, Nikolay
AU - Peer, Angelika
AU - Buss, Martin
PY - 2010
Y1 - 2010
N2 - Limitations of state-of-the-art teleoperation systems can be compensated by using shared-control teleoperation architectures that provide haptic assistance to the human operator. This paper presents a new approach for computer-assisted teleoperation, which recognizes human intentions and dependent on the classified task activates different types of assistances. For this purpose, time series haptic data is recorded during interaction, passed through an event-based feature extraction, and finally used for task classification by applying a Hidden Markov Model approach. The effect of the assistance function on human behavior is discussed and taken into account by training multiple classifiers for each type of assistance. The introduced approach is finally validated in a real hardware experiment. Results show an accurate intention recognition for assisted and non-assisted teleoperation.
AB - Limitations of state-of-the-art teleoperation systems can be compensated by using shared-control teleoperation architectures that provide haptic assistance to the human operator. This paper presents a new approach for computer-assisted teleoperation, which recognizes human intentions and dependent on the classified task activates different types of assistances. For this purpose, time series haptic data is recorded during interaction, passed through an event-based feature extraction, and finally used for task classification by applying a Hidden Markov Model approach. The effect of the assistance function on human behavior is discussed and taken into account by training multiple classifiers for each type of assistance. The introduced approach is finally validated in a real hardware experiment. Results show an accurate intention recognition for assisted and non-assisted teleoperation.
KW - computer assistance
KW - human intention recognition
KW - shared control
KW - teleoperation
UR - https://www.scopus.com/pages/publications/77955125407
U2 - 10.1007/978-3-642-14064-8_34
DO - 10.1007/978-3-642-14064-8_34
M3 - Conference contribution
AN - SCOPUS:77955125407
SN - 3642140637
SN - 9783642140631
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 233
EP - 239
BT - Haptics
T2 - International Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010
Y2 - 8 July 2010 through 10 July 2010
ER -