Salient Feature of Haptic-Based Guidance of People in Low Visibility Environments Using Hard Reins

Abstract—This paper presents salient features of humanhuman interaction where one person with limited auditory and visual perception of the environment (a follower) is guided by an agent with full perceptual capabilities (a guider) via a hard rein along a given path. We investigate several salient features of the interaction between the guider and the follower such as a) the order of an autoregressive control policy that maps states of the follower to actions of the guider, b) how the guider may modulate the pulling force in response to the confidence level of the follower, and c) how learning may successively apportion the responsibility of control across different muscles of the guider. Based on experimental systems identification on human demonstrations from ten pairs of naive subjects, we show that guiders tend to adopt a 3rd order auto-regressive predictive control policy and followers tend to adopt 2nd order reactive control policy. Moreover, the extracted guider’s control ...

• Type: Journal
• Year: 2016
• Where: TCYB
• Authors: Anuradha Ranasinghe, Nantachai Sornkarn, Prokar Dasgupta, Kaspar Althoefer, Jacques Penders, Thrishantha Nanayakkara
• Keywords: TCYB 2016