Panel 2: Accountability for the Actions of Robots

Transcript of the panel discussion at the 2018 Seattle University School of Law symposium “Singularity: AI and the Law” discussing human control and Artificial Intellegence learning. The panel participants are Ryan Calo, Howard Jay Chizeck, Elizabeth Joh, and Blake Hannaford

Evaluation of haptic guidance virtual fixtures and 3D visualization methods in telemanipulation—a user study

© 2019, The Author(s). This work presents a user-study evaluation of various visual and haptic feedback modes on a real telemanipulation platform. Of particular interest is the potential for haptic guidance virtual fixtures and 3D-mapping techniques to enhance efficiency and awareness in a simple teleoperated valve turn task. An RGB-Depth camera is used to gather real-time color and geometric data of the remote scene, and the operator is presented with either a monocular color video stream, a 3D-mapping voxel representation of the remote scene, or the ability to place a haptic guidance virtual fixture to help complete the telemanipulation task. The efficacy of the feedback modes is then explored experimentally through a user study, and the different modes are compared on the basis of objective and subjective metrics. Despite the simplistic task and numerous evaluation metrics, results show that the haptic virtual fixture resulted in significantly better collision avoidance compared to 3D visualization alone. Anticipated performance enhancements were also observed moving from 2D to 3D visualization. Remaining comparisons lead to exploratory inferences that inform future direction for focused and statistically significant studies

Fault tolerant optimal control

Thesis (Sc.D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1982.MICROFICHE COPY AVAILABLE IN ARCHIVES AND ENGINEERINGBibliography: leaves 898-903.by Howard Jay Chizeck.Sc.D

Instrumented parallel bars for three-dimensional force measurement

Abstract-This paper describes the modification and instrumen-tation of standard parallel bars to allow for the measurement of applied forces on both horizontal bars in three dimensions. This measurement system has been used in the develop~nent and evalu-ation of functional electrical stimulation (FES) devices for standing and gait restoration in paralyzed patients. Real-time measurement of forces applied by the upper body of the patient to the parallel bars is of use in the evaluation of FES stimula-tion patterns (or automatic controllers of stimulation). Such measurements are useful in the redesign of stimulation patterns andlor stimulation controllers. Key words: force measuremetzt, fit fictional electricul stirnula-tion, pamlle 1 bars, paruj?legia, rehubilitatioiz

Comparison of Transient Performance in the Control of Soft Tissue Grasping

Abstract — In robot-assisted surgery, surgical tools interact with tissues that have nonlinear mechanical properties. For situations where a pre-specified trajectory of tool positions (or applied forces) is desired, there are many controller designs that might be used. Four candidates are comparatively evaluated here, via computer simulation involving a nonlinear model of soft tissue behavior during grasping actions. The parameters for this model were obtained experimentally (in earlier work). The four candidate controllers are: (1) a welltuned PID controller; (2) feedback linearization in combination with deadbeat control; (3) an optimal open-loop control law obtained via minimization of a quadratic cost function; and (4) a model predictive controller. Simulation trials are used to compare the transient performance of these candidate controllers under different assumptions regarding input and output noises. The conditions where each of the candidates is best are characterized