TY - GEN
T1 - Towards real-time haptic assistance adaptation optimizing task performance and human effort
AU - Passenberg, Carolina
AU - Groten, Raphaela
AU - Peer, Angelika
AU - Buss, Martin
PY - 2011
Y1 - 2011
N2 - In a haptic shared control system, a virtual assistant and a human share the control over performed actions to facilitate execution of manipulation tasks. The assistance level determines the amount of support provided by the assistant. It should be adapted autonomously such that task performance and human effort are optimized. The effect of the assistance level on task performance and human effort may, however, be different depending on whether human and assistant agree on the actions or not. In this paper, we investigate the effect of the assistance level on task performance and effort for a scenario, in which human and assistant agree and for a scenario, where they disagree. We present a force-based criterion for distinguishing between the two scenarios and introduce an approach to optimize the assistance levels for each of the scenarios. Finally we sketch, how the results can be used to develop novel assistance adaptation schemes.
AB - In a haptic shared control system, a virtual assistant and a human share the control over performed actions to facilitate execution of manipulation tasks. The assistance level determines the amount of support provided by the assistant. It should be adapted autonomously such that task performance and human effort are optimized. The effect of the assistance level on task performance and human effort may, however, be different depending on whether human and assistant agree on the actions or not. In this paper, we investigate the effect of the assistance level on task performance and effort for a scenario, in which human and assistant agree and for a scenario, where they disagree. We present a force-based criterion for distinguishing between the two scenarios and introduce an approach to optimize the assistance levels for each of the scenarios. Finally we sketch, how the results can be used to develop novel assistance adaptation schemes.
UR - https://www.scopus.com/pages/publications/79961188389
U2 - 10.1109/WHC.2011.5945478
DO - 10.1109/WHC.2011.5945478
M3 - Conference contribution
AN - SCOPUS:79961188389
SN - 9781457702976
T3 - 2011 IEEE World Haptics Conference, WHC 2011
SP - 155
EP - 160
BT - 2011 IEEE World Haptics Conference, WHC 2011
T2 - 2011 IEEE World Haptics Conference, WHC 2011
Y2 - 22 June 2011 through 24 June 2011
ER -