Groten Raphaela, Feth Daniela, Klatzky Roberta L, Peer Angelika
IEEE Trans Haptics. 2013 Jan-Mar;6(1):94-105. doi: 10.1109/TOH.2012.2.
Recent developments strive for realizing robotic systems that not only interact, but closely collaborate with humans in performing everyday manipulation tasks. Successful collaboration requires the integration of the individual partner's intentions into a shared action plan, which may involve continuous negotiation of intentions. We focus on collaboration in a kinesthetic task, i.e., joint object manipulation. Here, ways must be found to integrate individual motion and force inputs from the members of the human-robot team, in order to achieve the joint task goal. Before guidelines on how robots should act in this process can be formulated, clarification on whether humans use the haptic channel for communicating their intentions is needed. This paper investigates this question in an experimental setup involving two collaborating humans. We consider physical effort as well as performance as indicators of successful intention integration. Our results strongly suggest that intention integration is enhanced via the haptic channel, i.e., that haptic communication takes place, especially in the case of shared decision situations. This provides a motivation for future investigations to model the process of intention integration itself in order to realize successful haptic human-robot collaboration.
最近的发展致力于实现不仅能与人类交互，还能在执行日常操作任务时与人类紧密协作的机器人系统。成功的协作需要将个体伙伴的意图整合到一个共享的行动计划中，这可能涉及意图的持续协商。我们专注于动觉任务中的协作，即联合物体操作。在此，必须找到方法来整合来自人机团队成员的个体运动和力输入，以实现联合任务目标。在制定关于机器人在这个过程中应如何行动的指导方针之前，需要弄清楚人类是否使用触觉通道来传达他们的意图。本文在一个涉及两名协作人类的实验装置中研究了这个问题。我们将体力消耗以及表现视为成功意图整合的指标。我们的结果强烈表明，意图整合通过触觉通道得到增强，也就是说发生了触觉交流，尤其是在共享决策的情况下。这为未来的研究提供了动力，以便对意图整合过程本身进行建模，从而实现成功的人机触觉协作。
