Imperial College London
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Professor Thrishantha Nanayakkara

Faculty of Engineering, Dyson School of Design Engineering

Professor in Robotics
 
 
 
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Contact

 

+44 (0)7902 396 681t.nanayakkara Website CV

 
 
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Location

 

RCS 1M07Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Ranasinghe:2015:10.1109/TCYB.2015.2409772,
author = {Ranasinghe, A and Sornkarn, N and Dasgupta, P and Althoefer, K and Penders, J and Nanayakkara, T},
doi = {10.1109/TCYB.2015.2409772},
journal = {IEEE Transactions on Cybernetics},
pages = {568--579},
title = {Salient feature of haptic-ased guidance of people in low visibility environments using hard reins.},
url = {http://dx.doi.org/10.1109/TCYB.2015.2409772},
volume = {46},
year = {2015}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - This paper presents salient features of human-human interaction where one person with limited auditory and visual perception of the environment (a follower) is guided by an agent with full perceptual capabilities (a guider) via a hard rein along a given path. We investigate several salient features of the interaction between the guider and follower such as: 1) the order of an autoregressive (AR) control policy that maps states of the follower to actions of the guider; 2) how the guider may modulate the pulling force in response to the trust level of the follower; and 3) how learning may successively apportion the responsibility of control across different muscles of the guider. Based on experimental systems identification on human demonstrations from ten pairs of naive subjects, we show that guiders tend to adopt a third-order AR predictive control policy and followers tend to adopt second-order reactive control policy. Moreover, the extracted guider's control policy was implemented and validated by human-robot interaction experiments. By modeling the follower's dynamics with a time varying virtual damped inertial system, we found that it is the coefficient of virtual damping which is most sensitive to the trust level of the follower. We used these experimental insights to derive a novel controller that integrates an optimal order control policy with a push/pull force modulator in response to the trust level of the follower monitored using a time varying virtual damped inertial model.
AU  - Ranasinghe,A
AU  - Sornkarn,N
AU  - Dasgupta,P
AU  - Althoefer,K
AU  - Penders,J
AU  - Nanayakkara,T
DO  - 10.1109/TCYB.2015.2409772
EP  - 579
PY  - 2015///
SN  - 2168-2267
SP  - 568
TI  - Salient feature of haptic-ased guidance of people in low visibility environments using hard reins.
T2  - IEEE Transactions on Cybernetics
UR  - http://dx.doi.org/10.1109/TCYB.2015.2409772
UR  - http://hdl.handle.net/10044/1/50391
VL  - 46
ER  -
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