MORE | Fall 2019

Role Adaptation in Robots for Effective Physical Human-Robot Interaction

Modern robotic devices are required to perform certain tasks where they need to teach actions to humans through haptic/physical interactions, e.g., rehabilitative robots. For achieving that, a simulation study, with agents having information asymmetry is performed based on a signaling game to model physical communication between agents. The simulation shows that information exchange along with jointly reaching the goal could be done in finite time. An experimental study is also performed with human subjects to demonstrate robot teaching in physical tasks. The results can be extended into rehabilitation robots or semi-autopilots to provide physical assistance more safely and efficiently.