相关论文: Adaptive driver-automation shared steering control…

Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver's abilities to control. The human driver, as an essential agent in the driver-vehicle shared control…

Lane changes are common yet challenging driving maneuvers that require continuous decision-making and dynamic interaction with surrounding vehicles. Relying solely on human drivers for lane-changing can lead to traffic disturbances due to…

This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…

Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with…

This paper presents the validation of shared control strategies for critical maneuvers in automated driving systems. Shared control involves collaboration between the driver and automation, allowing both parties to actively engage and…

Surface Electromyography (sEMG/EMG) is to record muscles' electrical activity from a restricted area of the skin by using electrodes. The sEMG-based gesture recognition is extremely sensitive of inter-session and inter-subject variances. We…

In vehicles with partial or conditional driving automation (SAE Levels 2-3), the driver remains responsible for supervising the system and responding to take-over requests. Therefore, reliable driver monitoring is essential for safe…

We designed and tested a system for real-time control of a user interface by extracting surface electromyographic (sEMG) activity from eight electrodes in a wrist-band configuration. sEMG data were streamed into a machine-learning algorithm…

This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…

Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…

Modern Advanced Driver Assistance Systems (ADAS) are limited in their ability to consider the drivers intention, resulting in unnatural guidance and low customer acceptance. In this research, we focus on a novel data-driven approach to…

Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…

Predicting a driver's cognitive state, or more specifically, modeling a driver's reaction time (RT) in response to the appearance of a potential hazard warrants urgent research. In the last two decades, the electric field that is generated…

Shared control systems aim to combine human and robot abilities to improve task performance. However, achieving optimal performance requires that the robot's level of assistance adjusts the operator's cognitive workload in response to the…

It is well established that not only vision but also other sensory modalities affect drivers' control of their vehicles, and that drivers adapt over time to persistent changes in sensory cues (for example in driving simulators), but the…

To improve the security and robustness of autonomous driving models, this paper presents SMET, a scenariobased metamorphic testing tool for autonomous driving models. The metamorphic relationship is divided into three dimensions (time,…

Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly…

Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…

Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…

Assisted driving for connected cars is one of the main applications that 5G-and-beyond networks shall support. In this work, we propose an assisted driving system leveraging the synergy between connected vehicles and the edge of the network…