Adaptive assistive robotics: a framework for triadic collaboration between humans and robots
Robots and other assistive technologies have a huge potential to help society in domains ranging from factory work to healthcare. However, safe and effective control of robotic agents in these environments is complex, especially when it involves close interactions and multiple actors. We propose an...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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The Royal Society
2023-06-01
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| Series: | Royal Society Open Science |
| Subjects: | |
| Online Access: | https://royalsocietypublishing.org/doi/10.1098/rsos.221617 |
| _version_ | 1827915073726709760 |
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| author | Daniel F. N. Gordon Andreas Christou Theodoros Stouraitis Michael Gienger Sethu Vijayakumar |
| author_facet | Daniel F. N. Gordon Andreas Christou Theodoros Stouraitis Michael Gienger Sethu Vijayakumar |
| author_sort | Daniel F. N. Gordon |
| collection | DOAJ |
| description | Robots and other assistive technologies have a huge potential to help society in domains ranging from factory work to healthcare. However, safe and effective control of robotic agents in these environments is complex, especially when it involves close interactions and multiple actors. We propose an effective framework for optimizing the behaviour of robots and complementary assistive technologies in systems comprising a mix of human and technological agents with numerous high-level goals. The framework uses a combination of detailed biomechanical modelling and weighted multi-objective optimization to allow for the fine tuning of robot behaviours depending on the specification of the task at hand. We illustrate our framework via two case studies across assisted living and rehabilitation scenarios, and conduct simulations and experiments of triadic collaboration in practice. Our results indicate a marked benefit to the triadic approach, showing the potential to improve outcome measures for human agents in robot-assisted tasks. |
| first_indexed | 2024-03-13T02:54:18Z |
| format | Article |
| id | doaj.art-3b149570257049da8cafb38acdd87f01 |
| institution | Directory Open Access Journal |
| issn | 2054-5703 |
| language | English |
| last_indexed | 2024-03-13T02:54:18Z |
| publishDate | 2023-06-01 |
| publisher | The Royal Society |
| record_format | Article |
| series | Royal Society Open Science |
| spelling | doaj.art-3b149570257049da8cafb38acdd87f012023-06-28T07:42:09ZengThe Royal SocietyRoyal Society Open Science2054-57032023-06-0110610.1098/rsos.221617Adaptive assistive robotics: a framework for triadic collaboration between humans and robotsDaniel F. N. Gordon0Andreas Christou1Theodoros Stouraitis2Michael Gienger3Sethu Vijayakumar4The University of Edinburgh, Edinburgh, UKThe University of Edinburgh, Edinburgh, UKHonda Research Institute Europe, Offenbach, GermanyHonda Research Institute Europe, Offenbach, GermanyThe University of Edinburgh, Edinburgh, UKRobots and other assistive technologies have a huge potential to help society in domains ranging from factory work to healthcare. However, safe and effective control of robotic agents in these environments is complex, especially when it involves close interactions and multiple actors. We propose an effective framework for optimizing the behaviour of robots and complementary assistive technologies in systems comprising a mix of human and technological agents with numerous high-level goals. The framework uses a combination of detailed biomechanical modelling and weighted multi-objective optimization to allow for the fine tuning of robot behaviours depending on the specification of the task at hand. We illustrate our framework via two case studies across assisted living and rehabilitation scenarios, and conduct simulations and experiments of triadic collaboration in practice. Our results indicate a marked benefit to the triadic approach, showing the potential to improve outcome measures for human agents in robot-assisted tasks.https://royalsocietypublishing.org/doi/10.1098/rsos.221617ergonomicsoptimizationoptimal control |
| spellingShingle | Daniel F. N. Gordon Andreas Christou Theodoros Stouraitis Michael Gienger Sethu Vijayakumar Adaptive assistive robotics: a framework for triadic collaboration between humans and robots Royal Society Open Science ergonomics optimization optimal control |
| title | Adaptive assistive robotics: a framework for triadic collaboration between humans and robots |
| title_full | Adaptive assistive robotics: a framework for triadic collaboration between humans and robots |
| title_fullStr | Adaptive assistive robotics: a framework for triadic collaboration between humans and robots |
| title_full_unstemmed | Adaptive assistive robotics: a framework for triadic collaboration between humans and robots |
| title_short | Adaptive assistive robotics: a framework for triadic collaboration between humans and robots |
| title_sort | adaptive assistive robotics a framework for triadic collaboration between humans and robots |
| topic | ergonomics optimization optimal control |
| url | https://royalsocietypublishing.org/doi/10.1098/rsos.221617 |
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