Authors:
Xavier Giralt
1
and
Josep Amat
2
Affiliations:
1
Research Group On Intelligent Robotics and Systems, Technical University of Catalonia, Spain
;
2
Institute of Robotics and Industrial Informatics, Technical University of Catalonia, Spain
Keyword(s):
Human-Robot Interaction.
Related
Ontology
Subjects/Areas/Topics:
Human Augmentation and Shared Control
;
Human-Robots Interfaces
;
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Robotics and Automation
Abstract:
In our daily life, we use many elements that help us by means of a higher protection level (thimble, door stop) or by improving our dexterity (funnel, compasses). Both kinds of elements allow us to execute well known tasks with less concentration, faster, and, above all, improving performance. Like the real tools mentioned above, in the robotics field, virtual constraints enhance human-machine interaction. This work presents a multi-parametric behaviour model for an agent that increases task safety, and enables higher integration possibilities. The model presented here allows the perturbation of a programmed task, by introducing virtual elastic and viscous forces. This work presents the behaviour model, a description of it’s implementation and experimental results in human-robot interaction.