Reduced Effort Does Not Imply Slacking: Responsiveness to Error Increases With Robotic Assistance
Reduced Effort Does Not Imply Slacking: Responsiveness to Error Increases With Robotic Assistance
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减少工作量并不意味着偷懒：通过机器人协助提高对错误的响应能力
DOI：
10.1109/tnsre.2018.2836341
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发表时间：
2018
影响因子：
4.9
通讯作者：
Koike Yasuharu
中科院分区：
文献类型：
--
作者：
Takagi Atsushi;Kambara Hiroyuki;Koike Yasuharu
在神经康复和功能增强中，当患者或用户的肢体的运动由机器人支持时，患者或用户的肌肉努力减少。这种放松是不是因为让机器人接管运动而导致的“懈怠”，从而导致任务的响应能力降低？为了解决这个问题，我们测试了受试者谁控制的虚拟光标等距跟踪移动目标，没有和不同的助手。我们测量了受试者施加的力作为努力的度量，并估计了他们的控制增益作为任务中反应的度量。虽然受试者在位置辅助下施加的力较小，但所有辅助者的控制增益的标准都有所增加，即，对于光标和目标状态之间的相同差异，他们施加了相应更大的力。此外，辅助速度误差在不减少工作量的情况下改善了基线性能。虽然所有的助手提高任务性能，控制增益适应不同的位置和速度的援助。位置辅助被用来精确地跟踪目标，而速度辅助被视为干扰，并有效地无效，因为它防止子运动，最大限度地减少位置误差。我们的研究结果表明，机器人辅助提高了健康个体的任务响应能力，辅助速度错误可以提高患者的表现，而不会减少他们的运动努力。
In both neurorehabilitation and functional augmentation, the patient or the user's muscular effort diminishes when the movement of their limb is supported by a robot. Is this relaxation a result of “slacking” by letting the robot take-over the movement, resulting in less responsiveness in the task? To address this question, we tested subjects who controlled a virtual cursor isometrically to track a moving target without and with different assistants. We measured the force applied by the subject as a metric for effort and estimated their control gain as the metric for responsiveness in the task. Although subjects applied less force with position assistance, the norm of the control gain increased with all assistants, i.e., they applied proportionately larger forces for the same difference between the cursor and the target states. Furthermore, assisting velocity errors improved baseline performance without reducing effort. Though all assistants improved task performance, the control gain adapted differently to position and velocity assistance. Position assistance was exploited to accurately track the target, whereas velocity assistance was treated as a disturbance, and was effectively nullified as it prevented submovements that minimized positional error. Our results show that robotic assistance increases task responsiveness in healthy individuals and that assisting velocity errors could boost patient performance without reducing their motor effort.