Reacting on human stubbornness in human-machine trajectory planning
Abstract
In this paper, a method for a cooperative trajectory planning between a human and an automation is extended by a behavioral model of the human. This model can characterize the stubbornness of the human, which measures how strong the human adheres to his preferred trajectory. Accordingly, a static model is introduced indicating a link between the force in haptically coupled human-robot interactions and humans's stubbornness. The introduced stubbornness parameter enables an application-independent reaction of the automation for the cooperative trajectory planning. Simulation results in the context of human-machine cooperation in a care application show that the proposed behavioral model can quantitatively estimate the stubbornness of the interacting human, enabling a more targeted adaptation of the automation to the human behavior.
Keywords
Cite
@article{arxiv.2407.17275,
title = {Reacting on human stubbornness in human-machine trajectory planning},
author = {Julian Schneider and Niels Straky and Simon Meyer and Balint Varga and Sören Hohmann},
journal= {arXiv preprint arXiv:2407.17275},
year = {2024}
}