CAREER: Shared Control for Skill Transfer in Human-Robot Haptic Interactions

这项研究工作的主要目标是通过触觉设备提高技能转移，康复和协作的有效性。为此，PI将制定用于培训，康复和协作的触觉系统中人类和机器人之间共享控制的要求。 一个实验测试台包括两个商业触觉设备与力传感能力将在整个项目。 PI将研究两种用于技能转移的共享控制系统架构。 在第一种情况下，人类充当新手或病人，机器人充当专家。 控制方案的专家系统（触觉设备）将设计和分析理论和实验。 研究工作的第二阶段将探索人-机器人-人界面。 在这里，PI将重点关注专家-新手团队和治疗师-患者团队，并由机器人系统充当两者之间的调解者。 这项研究和教育计划的智力价值在于，人为因素和控制系统设计将用于开发有效的人机系统，用于技能转移和康复。 一系列基本的人机交互问题将在理论和实验上得到解决：（1）设计用于人与机器人之间的有效技能转移的系统架构，（2）作为人与机器人交互的模型的人与人团队之间的技能转移，以及（3）控制算法的设计和实现，通过有效地控制对每个成员的反馈来促进有效的技能转移，系统 这项工作的更广泛影响是通过更高效和有效的机器人辅助康复实践来改善医疗保健，增强防御和外科应用的技能培训，以及提高对人类-机器人互动的理解以促进技能转移。 具体的教育目标是使用触觉设备创建创新的实验室模块，以提高学生对重要工程概念的学习，重振机器人入门课程，包括触觉和机器人的动手实验，以及高中外展，包括实习，校园日，以及使用触觉的演示，以鼓励学生追求科学和工程事业。 每一个教育目标都与PI现有的NSF对课程改进的支持密切相关，并进一步支持她将研究和教育结合成一个有凝聚力的综合职业计划的承诺

The primary goal of this research effort is to improve the effectiveness of skill transfer, rehabilitation, and collaboration via haptic devices. To do so, the PI will formulate requirements for shared control between humans and robots in haptic systems designed for training, rehabilitation, and collaboration. An experimental test-bed comprised of two commercial haptic devices with force sensing capabilities will be employed throughout the project. The PI will study two shared control system architectures for skill transfer. In the first, the human acts as the novice or patient, and the robot serves as the expert. Control schemes for the expert system (the haptic device) will be designed and analyzed theoretically and experimentally. The second phase of the research effort will explore human-robot-human interfaces. Here, the PI will focus on expert-novice and therapist-patient teams, with a robotic system acting as the mediator between the two. The intellectual merit of this research and education plan is that human factors and control system design will be used to develop effective human-robot systems for skill transfer and rehabilitation. A set of fundamental human-robot interaction issues will be addressed theoretically and experimentally: (1) the design of system architectures for effective skill transfer between humans and robots, (2) skill transfer between human-human teams as a model for human-robot interaction, and (3) the design and implementation of control algorithms that promote efficient skill transfer by effectively controlling feedback to each member of the system. The broader impacts of this work are improved health care through more efficient and effective robot assisted rehabilitation practices, enhanced skill training for defense and surgical applications, and improved understanding of human-robot interactions for skill transfer. Specific education goals are to create innovative laboratory modules using haptic devices to enhance student learning of important engineering concepts, reinvigorate an introductory robotics course to include hands-on experiments with haptics and robotics, and high school outreach that includes internships, days-on-campus, and demonstrations using haptics to encourage students to pursue careers in science and engineering. Each of these educational goals ties closely to the PI's existing NSF support for curriculum enhancement, and further supports her commitment to combining research and education into a cohesive and integrated career plan