Human-in-the-Loop Robot Control for Human-Robot Collaboration: HUMAN INTENTION ESTIMATION AND SAFE TRAJECTORY TRACKING CONTROL FOR COLLABORATIVE TASKS.

ABSTRACT: This article provides a perspective on estimation and control problems in cyberphysical human systems (CPHSs) that work at the intersection of cyberphysical systems and human systems. The article also discusses solutions to some of the problems in CPHSs. One example of a CPHS is a close-proximity human-robot collaboration (HRC) in a manufacturing setting. The issue of the joint operation's efficiency and human factors, such as safety, attention, mental states, and comfort, naturally arise in the HRC context. By considering human factors, robots' actions can be controlled to achieve objectives, including safe operations and human comfort. Alternately, questions arise when robot factors are considered. For example, can we provide direct inputs and information to humans about an environment a

SUBMITTER: Dani AP 

PROVIDER: S-EPMC8740556 | biostudies-literature | 2020 Dec

REPOSITORIES: biostudies-literature