Imperial College London
Alternate

Professor Yiannis Demiris

Faculty of Engineering, Department of Electrical and Electronic Engineering

Professor of Human-Centred Robotics, Head of ISN
 
 
 
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Contact

 

+44 (0)20 7594 6300y.demiris Website

 
 
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Location

 

1011Electrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Zolotas:2020:10.1109/IROS40897.2019.8968117,
author = {Zolotas, M and Demiris, Y},
doi = {10.1109/IROS40897.2019.8968117},
pages = {3020--3026},
publisher = {IEEE},
title = {Towards explainable shared control using augmented reality},
url = {http://dx.doi.org/10.1109/IROS40897.2019.8968117},
year = {2020}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - Shared control plays a pivotal role in establishing effective human-robot interactions. Traditional control-sharing methods strive to complement a human’s capabilities at safely completing a task, and thereby rely on users forming a mental model of the expected robot behaviour. However, these methods can often bewilder or frustrate users whenever their actions do not elicit the intended system response, forming a misalignment between the respective internal models of the robot and human. To resolve this model misalignment, we introduce Explainable Shared Control as a paradigm in which assistance and information feedback are jointly considered. Augmented reality is presented as an integral component of this paradigm, by visually unveiling the robot’s inner workings to human operators. Explainable Shared Control is instantiated and tested for assistive navigation in a setup involving a robotic wheelchair and a Microsoft HoloLens with add-on eye tracking. Experimental results indicate that the introduced paradigm facilitates transparent assistance by improving recovery times from adverse events associated with model misalignment.
AU  - Zolotas,M
AU  - Demiris,Y
DO  - 10.1109/IROS40897.2019.8968117
EP  - 3026
PB  - IEEE
PY  - 2020///
SP  - 3020
TI  - Towards explainable shared control using augmented reality
UR  - http://dx.doi.org/10.1109/IROS40897.2019.8968117
UR  - https://ieeexplore.ieee.org/document/8968117
UR  - http://hdl.handle.net/10044/1/74982
ER  -
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