A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In thi...A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields.As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure.Finally, with the best fictitious force and its identified impedance,an impedance control is designed for a mobile robot Pioneer 3AT,which is programmed to follow a human in a structured scenario.According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.展开更多
Power-assisted upper-limb exoskeletons are primarily used to improve the handling efficiency and load capacity.However,kinematic mismatch between the kinematics and biological joints is a major problem in most existin...Power-assisted upper-limb exoskeletons are primarily used to improve the handling efficiency and load capacity.However,kinematic mismatch between the kinematics and biological joints is a major problem in most existing exoskeletons,because it reduces the boosting effect and causes pain and long-term joint damage in humans.In this study,a shoulder augmentation exoskeleton was designed based on a parallel mechanism that solves the shoulder dislocation problem using the upper arm as a passive limb.Consequently,the human–machine synergy and wearability of the exoskeleton system were improved without increasing the volume and weight of the system.A parallel mechanism was used as the structural body of the shoulder joint exoskeleton,and its workspace,dexterity,and stiffness were analyzed.Additionally,an ergonomic model was developed using the principle of virtual work,and a case analysis was performed considering the lifting of heavy objects.The results show that the upper arm reduces the driving force requirement in coordinated motion,enhances the load capacity of the system,and achieves excellent assistance.展开更多
As machines are becoming more interactive,such as Artificial Intelligence(AI)agents,the importance of interactions between humans and AI increases as a new type of communication.However,unlike most studies have examin...As machines are becoming more interactive,such as Artificial Intelligence(AI)agents,the importance of interactions between humans and AI increases as a new type of communication.However,unlike most studies have examined the influence of AI on individuals,fewer studies about how human-AI interactions will impact society have been conducted.It should be acknowledged that we attribute social roles to AI when assigning social tasks,and there are power dynamics within an interaction between humans and AI because of it.Also,we should ask whether the current society is ready for AI to take responsibility for its actions.Finally,limitations on existing human-machine communication(HMC)studies,an unclear definition of AI as an interlocutor and a lack of theoretical frameworks,were pointed out with suggestions.It is expected that considering a machine’s social roles and powers in human-AI interactions will broaden the theoretical realm of HMC.展开更多
文摘A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields.As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure.Finally, with the best fictitious force and its identified impedance,an impedance control is designed for a mobile robot Pioneer 3AT,which is programmed to follow a human in a structured scenario.According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.
基金Supported by National Natural Science Foundation of China (Grant No.52275004)。
文摘Power-assisted upper-limb exoskeletons are primarily used to improve the handling efficiency and load capacity.However,kinematic mismatch between the kinematics and biological joints is a major problem in most existing exoskeletons,because it reduces the boosting effect and causes pain and long-term joint damage in humans.In this study,a shoulder augmentation exoskeleton was designed based on a parallel mechanism that solves the shoulder dislocation problem using the upper arm as a passive limb.Consequently,the human–machine synergy and wearability of the exoskeleton system were improved without increasing the volume and weight of the system.A parallel mechanism was used as the structural body of the shoulder joint exoskeleton,and its workspace,dexterity,and stiffness were analyzed.Additionally,an ergonomic model was developed using the principle of virtual work,and a case analysis was performed considering the lifting of heavy objects.The results show that the upper arm reduces the driving force requirement in coordinated motion,enhances the load capacity of the system,and achieves excellent assistance.
文摘As machines are becoming more interactive,such as Artificial Intelligence(AI)agents,the importance of interactions between humans and AI increases as a new type of communication.However,unlike most studies have examined the influence of AI on individuals,fewer studies about how human-AI interactions will impact society have been conducted.It should be acknowledged that we attribute social roles to AI when assigning social tasks,and there are power dynamics within an interaction between humans and AI because of it.Also,we should ask whether the current society is ready for AI to take responsibility for its actions.Finally,limitations on existing human-machine communication(HMC)studies,an unclear definition of AI as an interlocutor and a lack of theoretical frameworks,were pointed out with suggestions.It is expected that considering a machine’s social roles and powers in human-AI interactions will broaden the theoretical realm of HMC.
