相关论文: Adaptive driver-automation shared steering control…
The increasing variety of means of transportation, including light vehicles like e-scooters and e-bikes, together with the increasing weight of conventional vehicles due to electrification and consumer preferences for SUVs, are raising…
A key factor to optimal acceptance and comfort of automated vehicle features is the driving style. Mismatches between the automated and the driver preferred driving styles can make users take over more frequently or even disable the…
Surface electromyography (sEMG) is becoming exceeding useful in applications involving analysis of human motion such as in human-machine interface, assistive technology, healthcare and prosthetic development. The proposed work presents a…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
With the automotive industry transitioning towards conditionally automated driving, takeover warning systems are crucial for ensuring safe collaborative driving between users and semi-automated vehicles. However, previous work has focused…
Aiming at the problem of driver's perception lag and low utilization efficiency of space-time resources in expressway ramp confluence area, based on the preemptive spatiotemporal trajectory Adjustment system, from the perspective of…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…
Modern vehicles are equipped with increasingly complex sensors. These sensors generate large volumes of data that provide opportunities for modeling and analysis. Here, we are interested in exploiting this data to learn aspects of behaviors…
Drivers cognitive and physiological states affect their ability to control their vehicles. Thus, these driver states are important to the safety of automobiles. The design of advanced driver assistance systems (ADAS) or autonomous vehicles…
In this paper a mesoscopic hybrid model, i.e. a microscopic hybrid model that takes into account macroscopic parameters, is introduced for designing a human-inspired Adaptive Cruise Control. A control law is proposed with the design goal of…
One of the most frequent and severe aftermaths of a stroke is the loss of upper limb functionality. Therapy started in the sub-acute phase proved more effective, mainly when the patient participates actively. Recently, a novel set of…
In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user's goal. As such, most prior works follow a predict-then-act model, first predicting…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
Partial driving automation creates a tension: drivers remain legally responsible for vehicle behaviour, yet their active control is significantly reduced. This reduction undermines the engagement and sense of agency needed to intervene…
Supernumerary Robotics Device (SRD) is an ideal solution to provide robotic assistance in overhead manual manipulation. Since two arms are occupied for the overhead task, it is desired to have additional arms to assist us in achieving other…
Surface electromyography provides a practical way to infer human movement intention from wearable muscle recordings, but models trained under a single acquisition setting often lose reliability when the user, session, electrode layout, or…
Highway pilot assist has become the front line of competition in advanced driver assistance systems. The increasing requirements on safety and user acceptance are calling for personalization in the development process of such systems.…
Surface electromyography (sEMG) is a promising control signal for assist-as-needed hand rehabilitation after stroke, but detecting intent from paretic muscles often requires lengthy, subject-specific calibration and remains brittle to…
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…