Imperial College London
Portrait Picture

Professor Aldo Faisal

Faculty of Engineering, Department of Bioengineering

Professor of AI & Neuroscience
 
 
 
//

Contact

 

+44 (0)20 7594 6373a.faisal Website

 
 
//

Assistant

 

Miss Teresa Ng +44 (0)20 7594 8300

 
//

Location

 

4.08Royal School of MinesSouth Kensington Campus

//

Summary

 

Publications

Citation

BibTex format

@unpublished{Liu:2022,
author = {Liu, Y and Leib, R and Dudley, W and Shafti, A and Faisal, AA and Franklin, DW},
publisher = {arXiv},
title = {The role of haptic communication in dyadic collaborative object manipulation tasks},
url = {http://arxiv.org/abs/2203.01287v1},
year = {2022}
}
Download

RIS format (EndNote, RefMan)

TY  - UNPB
AB  - Intuitive and efficient physical human-robot collaboration relies on themutual observability of the human and the robot, i.e. the two entities beingable to interpret each other's intentions and actions. This is remedied by amyriad of methods involving human sensing or intention decoding, as well ashuman-robot turn-taking and sequential task planning. However, the physicalinteraction establishes a rich channel of communication through forces, torquesand haptics in general, which is often overlooked in industrial implementationsof human-robot interaction. In this work, we investigate the role of haptics inhuman collaborative physical tasks, to identify how to integrate physicalcommunication in human-robot teams. We present a task to balance a ball at atarget position on a board either bimanually by one participant, or dyadicallyby two participants, with and without haptic information. The task requiresthat the two sides coordinate with each other, in real-time, to balance theball at the target. We found that with training the completion time and numberof velocity peaks of the ball decreased, and that participants gradually becameconsistent in their braking strategy. Moreover we found that the presence ofhaptic information improved the performance (decreased completion time) and ledto an increase in overall cooperative movements. Overall, our results show thathumans can better coordinate with one another when haptic feedback isavailable. These results also highlight the likely importance of hapticcommunication in human-robot physical interaction, both as a tool to inferhuman intentions and to make the robot behaviour interpretable to humans.
AU  - Liu,Y
AU  - Leib,R
AU  - Dudley,W
AU  - Shafti,A
AU  - Faisal,AA
AU  - Franklin,DW
PB  - arXiv
PY  - 2022///
TI  - The role of haptic communication in dyadic collaborative object manipulation tasks
UR  - http://arxiv.org/abs/2203.01287v1
UR  - http://hdl.handle.net/10044/1/97148
ER  -
Download