Upper-limb Geometric MyoPassivity Map for Physical Human-Robot Interaction

The intrinsic biomechanical characteristic of the human upper limb plays a central role in absorbing the interactive energy during physical human-robot interaction (pHRI). We have recently shown that based on the concept of ``Excess of Passivity (EoP)," from nonlinear control theory, it is possible to decode such energetic behavior for both upper and lower limbs. The extracted knowledge can be used in the design of controllers for optimizing the transparency and fidelity of force fields in human-robot interaction and in haptic systems. In this paper, for the first time, we investigate the frequency behavior of the passivity map for the upper limb when the muscle co-activation was controlled in real-time through visual electromyographic feedback. Five healthy subjects (age: 27 +/- 5) were included in this study. The energetic behavior was evaluated at two stimulation frequencies at eight interaction directions over two controlled muscle co-activation levels. Electromyography (EMG) was captured using the Delsys Wireless Trigno system. Results showed a correlation between EMG and EoP, which was further altered by increasing the frequency. The proposed energetic behavior is named the Geometric MyoPassivity (GMP) map. The findings indicate that the GMP map has the potential to be used in real-time to quantify the absorbable energy, thus passivity margin of stability for upper limb interaction during pHRI

Identification of Haptic Based Guiding Using Hard Reins

This paper presents identifications of human-human interaction in which 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 identifications of the interaction between the guider and the follower such as computational models that map states of the follower to actions of the guider and the computational basis of the guider to modulate the force on the rein in response to the trust level of the follower. Based on experimental identification systems on human demonstrations show that the guider and the follower experience learning for an optimal stable state-dependent novel 3rd and 2nd order auto-regressive predictive and reactive control policies respectively. By modeling the follower's dynamics using a time varying virtual damped inertial system, we found that the coefficient of virtual damping is most appropriate to explain the trust level of the follower at any given time. Moreover, we present the stability of the extracted guiding policy when it was implemented on a planar 1-DoF robotic arm. Our findings provide a theoretical basis to design advanced human-robot interaction algorithms applicable to a variety of situations where a human requires the assistance of a robot to perceive the environment

Web 2.0-based Collaborative Multicriteria Spatial Decision Support System: A Case Study of Human-Computer Interaction Patterns

The integration of GIS and Multicriteria Decision Analysis (MCDA) capabilities into the Web 2.0 platform offers an effective Multicriteria Spatial Decision Support System (MC-SDSS) with which to involve the public, or a particular group of individuals, in collaborative spatial decision making. Understanding how decision makers acquire and integrate decision-related information within the Web 2.0-based collaborative MC-SDSS has been one of the major concerns of MC-SDSS designers for a long time. This study focuses on examining human-computer interaction patterns (information acquisition behavior) within the Web 2.0-based MC-SDSS environment. It reports the results of an experimental study that investigated the effects of task complexity, information aids, and decision modes on information acquisition metrics and their relations. The research involved three major steps: (1) developing a Web 2.0-based analytic-deliberative MC-SDSS for parking site selection in Tehran, Iran to analyze human-computer interaction patterns, (2) conducting experiments using this system and collecting the human-computer interaction data, and (3) analyzing the log data to detect the human-computer interaction patterns (information acquisition metrics). Using task complexity, decision aid, and decision mode as the independent factors, and the information acquisition metrics as the dependent variables, the study adopted a repeated-measures experimental design (or within-subjects design) to test the relevant hypotheses. Task complexity was manipulated in terms of the number of alternatives and attributes at four levels. At each level of task complexity, the participants carried out the decision making process in two different GIS-MCDA modes: individual and group modes. The decision information was conveyed to participants through common map and decision table information structures. The map and table were used, respectively, for the exploration of the geographic (or decision) and criterion outcome spaces. The study employed a process-tracing method to directly monitor and record the decision makers’ activities during the experiments. The data on the decision makers’ activities were recorded as Web-based event logs using a database logging technique. Concerningiv task complexity effects, the results of the study suggest that an increase in task complexity results in a decrease in the proportion of information searched and proportion of attribute ranges searched, as well as an increase in the variability of information searched per attribute. This finding implies that as task complexity increases decision makers use a more non-compensatory strategy. Regarding the decision mode effects, it was found that the two decision modes are significantly different in terms of: (1) the proportion of information search, (2) the proportion of attribute ranges examined, (3) the variability of information search per attribute, (4) the total time spent acquiring the information in the decision table, and (5) the average time spent acquiring each piece of information. Regarding the effect of the information aids (map and decision table) on the information acquisition behavior, the findings suggest that, in both of the decision modes, there is a significant difference between information acquisition using the map and decision table. The results show that decision participants have a higher number of moves and spend more time on the decision table than map. The study presented in this dissertation has implications for formulating behavioral theories in the spatial decision context and practical implications for the development of MC-SDSS. Specifically, the findings provide a new perspective on the use of decision support aids, and important clues for designers to develop an appropriate user-centered Web-based collaborative MC-SDSS. The study’s implications can advance public participatory planning and allow for more informed and democratic land-use allocation decisions

Human centric collaborative workplace: the human robot interaction system perspective

The implementation of smart technologies and physical collaboration with robots in manufacturing can provide competitive advantages in production, performance and quality, as well as improve working conditions for operators. Due to the rapid advancement of smart technologies and robot capabilities, operators face complex task processes, decline in competences due to robots overtaking tasks, and reduced learning opportunities, as the range of tasks that they are asked to perform is narrower. The Industry 5.0 framework introduced, among others, the human-centric workplace, promoting operators wellbeing and use of smart technologies and robots to support them. This new human centric framework enables operators to learn new skills and improve their competencies. However, the need to understand the effects of the workplace changes remain, especially in the case of human robot collaboration, due to the dynamic nature of human robot interaction. A literature review was performed, initially, to map the effects of workplace changes on operators and their capabilities. Operators need to perform tasks in a complex environment in collaboration with robots, receive information from sensors or other means (e.g. through augmented reality glasses) and decide whether to act upon them. Meanwhile, operators need to maintain their productivity and performance. This affects cognitive load and fatigue, which increases safety risks and probability of human-system error. A model for error probability was formulated and tested in collaborative scenarios, which regards the operators as natural systems in the workplace environment, taking into account their condition based on four macro states; behavioural, mental, physical and psychosocial. A scoping review was then performed to investigate the robot design features effects on operators in the human robot interaction system. Here, the outcomes of robot design features effects on operators were mapped and potential guidelines for design purposes were identified. The results of the scoping review showed that, apart from cognitive load, operators perception on robots reliability and their safety, along with comfort can influence team cohesion and quality in the human robot interaction system. From the findings of the reviews, an experimental study was designed with the support of the industrial partner. The main hypothesis was that cognitive load, due to collaboration, is correlated with quality of product, process and human work. In this experimental study, participants had to perform two tasks; a collaborative assembly and a secondary manual assembly. Perceived task complexity and cognitive load were measured through questionnaires, and quality was measured through errors participants made during the experiment. Evaluation results showed that while collaboration had positive influence in performing the tasks, cognitive load increased and the temporal factor was the main reason behind the issues participants faced, as it slowed task management and decision making of participants. Potential solutions were identified that can be applied to industrial settings, such as involving participants/operators in the task and workplace design phase, sufficient training with their robot co-worker to learn the task procedures and implement direct communication methods between operator and robot for efficient collaboration

IMPROVING THE USER EXPERIENCE OF THE LAWRENCE TRANSIT SYSTEM: A FOCUS ON MAP USABILITY AND ROUTE PLANNING

The purpose of the Lawrence Transit System thesis is to design a route system with improved coverage and convenience, and to improve the usability of the route map. I use a user-centered, participatory approach to generate ideas by examining the interaction between human, object, and environment within a situation. The situation is evaluated against theoretical frameworks and then synthesized using methods of representation. The route system is improved by defining route priorities which reduce the number of transfers to one or less and increase coverage without adding to the current amount of routes or buses used. Furthermore, the study finds that users identify their position easier on the map when: it is correctly orientated in the environment; it represents their mental model; and the user can identify familiar markers. In conclusion, the user experience is improved with a usable map designed around an efficient route system

Space Architecture Assessment Using System-of-Systems Methodologies

As technologies in the space exploration community are further developed, mission complexity and the associated risks have become greater. Dozens of complicated system interactions may result in unexpected, potentially dangerous emergent behaviors. Early efforts are underway by NASA to map potential system architectures (collections of systems which fulfill design requirements) for future human space exploration missions. However, current mission complexity requires the determination of emergent behaviors, as well as time requirements, and safety levels of complicated space exploration architectures, which current analysis methods in use cannot address. To that end, a newer technique has been developed—System Operability Dependency Analysis (SODA). This technique uses a combination of expert input and past data analysis to create a model of system interactions, to properly complete the required study. By gathering a broad variety of data and opinion through literature survey and interaction with subject matter experts, and modeling interactions between systems, obtaining estimations for the feasibility and features of a variety of architectural variations becomes possible. This study compares a small set of architectures/variations to determine which best meet the requirement metrics designated by the user. The resultant data includes sets of feasibility data and specialized data plots which denote the relative feasibility of each architecture. The knowledge learned from this study is intended as an initial guide for the development of future human space exploration missions

A multi-modal interface for road planning tasks using vision, haptics and sound

The planning of transportation infrastructure requires analyzing many different types of geo-spatial information in the form of maps. Displaying too many of these maps at the same time can lead to visual clutter or information overload, which results in sub-optimal effectiveness. Multimodal interfaces (MMIs) try to address this visual overload and improve the user\u27s interaction with large amounts of data by combining several sensory modalities. Previous research into MMIs seems to indicate that using multiple sensory modalities leads to more efficient human-computer interactions when used properly. The motivation from this previous work has lead to the creation of this thesis, which describes a novel GIS system for road planning using vision, haptics and sound. The implementation of this virtual environment is discussed, including some of the design decisions used when trying to ascertain how we map visual data to our other senses. A user study was performed to see how this type of system could be utilized, and the results of the study are presented

Evaluating a human-robot interface for exploration missions

The research reported in this paper concerns the design, implementation, and experimental evaluation of a Human-Robot Interface for stationary remote operators, implemented for a PC computer. The GUI design and functionality is described. An Autonomy Management Model has been implemented and explained. We have conducted user evaluation, making two set of experiments, that will be described and the resulting data analyzed. The conclusions give an insight on the most important usability concerns, regarding the operator situational awareness. The scalability of the interface is also experimentally studied

Usability dimensions in collaborative GIS

Collaborative GIS requires careful consideration of the Human-Computer Interaction (HCI) and Usability aspects, given the variety of users that are expected to use these systems, and the need to ensure that users will find the system effective, efficient, and enjoyable. The chapter explains the link between collaborative GIS and usability engineering/HCI studies. The integration of usability considerations into collaborative GIS is demonstrated in two case studies of Web-based GIS implementation. In the first, the process of digitising an area on Web-based GIS is improved to enhance the user's experience, and to allow interaction over narrowband Internet connections. In the second, server-side rendering of 3D scenes allows users who are not equipped with powerful computers to request sophisticated visualisation without the need to download complex software. The chapter concludes by emphasising the need to understand the users' context and conditions within any collaborative GIS project. © 2006, Idea Group Inc

Human Swarm Interaction: An Experimental Study of Two Types of Interaction with Foraging Swarms

In this paper we present the first study of human-swarm interaction comparing two fundamental types of interaction, coined intermittent and environmental. These types are exemplified by two control methods, selection and beacon control, made available to a human operator to control a foraging swarm of robots. Selection and beacon control differ with respect to their temporal and spatial influence on the swarm and enable an operator to generate different strategies from the basic behaviors of the swarm. Selection control requires an active selection of groups of robots while beacon control exerts an influence on nearby robots within a set range. Both control methods are implemented in a testbed in which operators solve an information foraging problem by utilizing a set of swarm behaviors. The robotic swarm has only local communication and sensing capabilities. The number of robots in the swarm range from 50 to 200. Operator performance for each control method is compared in a series of missions in different environments with no obstacles up to cluttered and structured obstacles. In addition, performance is compared to simple and advanced autonomous swarms. Thirty-two participants were recruited for participation in the study. Autonomous swarm algorithms were tested in repeated simulations. Our results showed that selection control scales better to larger swarms and generally outperforms beacon control. Operators utilized different swarm behaviors with different frequency across control methods, suggesting an adaptation to different strategies induced by choice of control method. Simple autonomous swarms outperformed human operators in open environments, but operators adapted better to complex environments with obstacles. Human controlled swarms fell short of task-specific benchmarks under all conditions. Our results reinforce the importance of understanding and choosing appropriate types of human-swarm interaction when designing swarm systems, in addition to choosing appropriate swarm behaviors