Human-Robot Interaction With Robust Prediction of Movement Intention Surpasses Manual Control.

ABSTRACT: Physical human-robot interaction (pHRI) enables a user to interact with a physical robotic device to advance beyond the current capabilities of high-payload and high-precision industrial robots. This paradigm opens up novel applications where a the cognitive capability of a user is combined with the precision and strength of robots. Yet, current pHRI interfaces suffer from low take-up and a high cognitive burden for the user. We propose a novel framework that robustly and efficiently assists users by reacting proactively to their commands. The key insight is to include context- and user-awareness in the controller, improving decision-making on how to assist the user. Context-awareness is achieved by inferring the candidate objects to be grasped in a task or scene and automatically computin

SUBMITTER: Veselic S 

PROVIDER: S-EPMC8514866 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature