4 research outputs found
Solution to the problem of designing a safe configuration of a human upper limb robotic prosthesis
ΠΠ° ΡΠ΅Π³ΠΎΠ΄Π½ΡΡΠ½ΠΈΠΉ Π΄Π΅Π½Ρ ΠΎΡΡΠ°Π΅ΡΡΡ Π°ΠΊΡΡΠ°Π»ΡΠ½ΠΎΠΉ ΡΠ°Π·ΡΠ°Π±ΠΎΡΠΊΠ° ΠΌΠ΅ΡΠΎΠ΄ΠΎΠ² ΠΊΠΎΠ½ΡΡΠΎΠ»Ρ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΡΠΎΠ±ΠΎΡΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΌΠ°Π½ΠΈΠΏΡΠ»ΡΡΠΎΡΠΎΠ² Ρ ΠΏΠΎΠΌΠΎΡΡΡ ΡΠΈΡΡΠ΅ΠΌ ΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΎΠ³ΠΎ Π·ΡΠ΅Π½ΠΈΡ (Π‘Π’Π) Ρ ΡΠ΅Π»ΡΡ ΠΎΠ±Π΅ΡΠΏΠ΅ΡΠ΅Π½ΠΈΡ Π±Π΅Π·ΠΎΠΏΠ°ΡΠ½ΠΎΡΡΠΈ ΠΏΠ°ΡΠΈΠ΅Π½ΡΠΎΠ² ΠΈ ΠΌΠ΅Π΄ΠΈΡΠΈΠ½ΡΠΊΠΎΠ³ΠΎ ΠΏΠ΅ΡΡΠΎΠ½Π°Π»Π° ΠΏΡΠΈ ΡΠ°Π±ΠΎΡΠ΅ Ρ ΠΌΠ΅Π΄ΠΈΡΠΈΠ½ΡΠΊΠΈΠΌΠΈ ΡΠΎΠ±ΠΎΡΠΈΠ·ΠΈΡΠΎΠ²Π°Π½Π½ΡΠΌΠΈ ΡΠ΅Π°Π±ΠΈΠ»ΠΈΡΠ°ΡΠΈΠΎΠ½Π½ΡΠΌΠΈ ΡΡΡΡΠΎΠΉΡΡΠ²Π°ΠΌΠΈ. Π¦Π΅Π»ΡΡ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΡ Π±ΡΠ»ΠΎ ΡΠ°Π·ΡΠ°Π±ΠΎΡΠ°ΡΡ ΠΌΠ΅ΡΠΎΠ΄ ΠΏΠΎΠ²ΡΡΠ΅Π½ΠΈΡ Π±Π΅Π·ΠΎΠΏΠ°ΡΠ½ΠΎΡΡΠΈ ΠΏΡΠΈΠΌΠ΅Π½Π΅Π½ΠΈΡ ΡΠΎΠ±ΠΎΡΠΈΠ·ΠΈΡΠΎΠ²Π°Π½Π½ΡΡ
ΠΌΠ΅Π΄ΠΈΡΠΈΠ½ΡΠΊΠΈΡ
ΡΠ΅Π°Π±ΠΈΠ»ΠΈΡΠ°ΡΠΈΠΎΠ½Π½ΡΡ
ΡΡΡΡΠΎΠΉΡΡΠ² ΠΏΡΡΠ΅ΠΌ ΡΠ°Π·ΡΠ°Π±ΠΎΡΠΊΠΈ ΠΈ Π°ΠΏΡΠΎΠ±Π°ΡΠΈΠΈ Π°Π»Π³ΠΎΡΠΈΡΠΌΠ° ΡΠ°ΡΡΠ΅ΡΠ° ΡΠ³Π»ΠΎΠ²ΡΡ
ΠΏΠΎΠ»ΠΎΠΆΠ΅Π½ΠΈΠΉ ΡΠΎΠ±ΠΎΡΠΈΠ·ΠΈΡΠΎΠ²Π°Π½Π½ΡΡ
ΠΌΠ°Π½ΠΈΠΏΡΠ»ΡΡΠΎΡΠΎΠ² ΠΈΠ»ΠΈ ΡΠΎΠ±ΠΎΡΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΏΡΠΎΡΠ΅Π·ΠΎΠ², ΠΏΡΠΈΠΌΠ΅Π½ΡΠ΅ΠΌΡΡ
Π² Π²ΠΎΡΡΡΠ°Π½ΠΎΠ²ΠΈΡΠ΅Π»ΡΠ½ΠΎΠΌ Π»Π΅ΡΠ΅Π½ΠΈΠΈ ΠΈ ΠΏΠΎΠ·Π²ΠΎΠ»ΡΡΡΠΈΡ
Π²ΠΎΡΠΏΡΠΎΠΈΠ·Π²Π΅ΡΡΠΈ Π΅ΡΡΠ΅ΡΡΠ²Π΅Π½Π½ΡΡ ΡΡΠ°Π΅ΠΊΡΠΎΡΠΈΡ ΠΏΠ΅ΡΠ΅ΠΌΠ΅ΡΠ΅Π½ΠΈΡ ΡΡΠΊΠΈ ΡΠ΅Π»ΠΎΠ²Π΅ΠΊΠ° ΠΏΠΎΠ΄ ΠΊΠΎΠ½ΡΡΠΎΠ»Π΅ΠΌ Π‘Π’Π. ΠΠ°Π½ΠΎ ΠΎΠΏΠΈΡΠ°Π½ΠΈΠ΅ ΡΠΎΠ±ΠΎΡΠΈΠ·ΠΈΡΠΎΠ²Π°Π½Π½ΠΎΠ³ΠΎ ΠΌΠ°Π½ΠΈΠΏΡΠ»ΡΡΠΎΡΠ°, ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½Π½ΠΎΠ³ΠΎ ΠΏΡΠΈ ΠΏΡΠΎΠ²Π΅Π΄Π΅Π½ΠΈΠΈ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΠΉ, ΠΏΡΠ΅Π΄ΡΡΠ°Π²Π»Π΅Π½Ρ ΡΡΡΠ΅ΡΡΠ²ΡΡΡΠΈΠ΅ ΠΏΠΎΠ΄Ρ
ΠΎΠ΄Ρ ΠΊ ΡΠ°ΡΡΠ΅ΡΡ ΡΠ³Π»ΠΎΠ²ΡΡ
ΠΏΠΎΠ»ΠΎΠΆΠ΅Π½ΠΈΠΉ ΠΏΡΠΈΠ²ΠΎΠ΄ΠΎΠ², Π° ΡΠ°ΠΊΠΆΠ΅ ΠΎΠΏΠΈΡΠ°Π½ΠΈΠ΅ ΠΏΡΠ΅Π΄Π»Π°Π³Π°Π΅ΠΌΠΎΠ³ΠΎ Π°Π»Π³ΠΎΡΠΈΡΠΌΠ°. ΠΡΠΈΠ²Π΅Π΄Π΅Π½Ρ ΡΡΠ°Π²Π½ΠΈΡΠ΅Π»ΡΠ½ΡΠ΅ ΡΠ΅Π·ΡΠ»ΡΡΠ°ΡΡ ΡΠ°Π±ΠΎΡΡ ΠΏΡΠ΅Π΄Π»Π°Π³Π°Π΅ΠΌΠΎΠ³ΠΎ Π°Π»Π³ΠΎΡΠΈΡΠΌΠ° ΠΈ ΡΡΡΠ΅ΡΡΠ²ΡΡΡΠΈΡ
ΠΌΠ΅ΡΠΎΠ΄ΠΎΠ² ΡΠ°ΡΡΠ΅ΡΠ° ΡΠ³Π»ΠΎΠ²ΡΡ
ΠΏΠΎΠ»ΠΎΠΆΠ΅Π½ΠΈΠΉ ΠΏΡΠΈΠ²ΠΎΠ΄ΠΎΠ² ΡΠΎΠ±ΠΎΡΠΈΠ·ΠΈΡΠΎΠ²Π°Π½Π½ΡΡ
ΠΌΠ°Π½ΠΈΠΏΡΠ»ΡΡΠΎΡΠΎΠ² (ΡΠΎΠ±ΠΎΡΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΏΡΠΎΡΠ΅Π·ΠΎΠ²) ΠΈ ΠΏΡΠ΅Π΄ΠΏΠΎΠ»Π°Π³Π°Π΅ΠΌΡΠ΅ Π½Π°ΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ Π΄Π»Ρ Π΅Π³ΠΎ Π΄ΠΎΡΠ°Π±ΠΎΡΠΊΠΈ
Modeling High-Dimensional Humans for Activity Anticipation using Gaussian Process Latent CRFs
AbstractβFor robots, the ability to model human configura-tions and temporal dynamics is crucial for the task of anticipating future human activities, yet requires conflicting properties: On one hand, we need a detailed high-dimensional description of human configurations to reason about the physical plausibility of the prediction; on the other hand, we need a compact representation to be able to parsimoniously model the relations between the human and the environment. We therefore propose a new model, GP-LCRF, which admits both the high-dimensional and low-dimensional representation of humans. It assumes that the high-dimensional representation is generated from a latent variable corresponding to its low-dimensional representation using a Gaussian process. The gener-ative process not only defines the mapping function between the high- and low-dimensional spaces, but also models a distribution of humans embedded as a potential function in GP-LCRF along with other potentials to jointly model the rich context among humans, objects and the activity. Through extensive experiments on activity anticipation, we show that our GP-LCRF consistently outperforms the state-of-the-art results and reduces the predicted human trajectory error by 11.6%. I
Human-Humanoid Joint Haptic Table Carrying Task with Height Stabilization using Vision
International audienceIn this paper, a first step is taken towards using vision in human-humanoid haptic joint actions. Haptic joint actions are characterized by physical interaction throughout the execution of a common goal. Because of this, most of the focus is on the use of force/torque-based control. However, force/torque information is not rich enough for some tasks. Here, a particular case is shown: height stabilization during table carrying. To achieve this, a visual servoing controller is used to generate a reference trajectory for the impedance controller. The control law design is fully described along with important considerations for the vision algorithm and a framework to make pose estimation robust during the table carrying task of the humanoid robot. We then demonstrate all this by an experiment where a human and the HRP-2 humanoid jointly transport a beam using combined force and vision data to adjust the interaction impedance while at the same time keeping the inclination of the beam horizontal
Attribution Biases and Trust Development in Physical Human-Machine Coordination: Blaming Yourself, Your Partner or an Unexpected Event
abstract: Reading partnersβ actions correctly is essential for successful coordination, but interpretation does not always reflect reality. Attribution biases, such as self-serving and correspondence biases, lead people to misinterpret their partnersβ actions and falsely assign blame after an unexpected event. These biases thus further influence peopleβs trust in their partners, including machine partners. The increasing capabilities and complexity of machines allow them to work physically with humans. However, their improvements may interfere with the accuracy for people to calibrate trust in machines and their capabilities, which requires an understanding of attribution biasesβ effect on human-machine coordination. Specifically, the current thesis explores how the development of trust in a partner is influenced by attribution biases and peopleβs assignment of blame for a negative outcome. This study can also suggest how a machine partner should be designed to react to environmental disturbances and report the appropriate level of information about external conditions.Dissertation/ThesisMasters Thesis Human Systems Engineering 201