EAGER: Sub-second human-robot synchronization

首席调查员(PI)将探索和测试一些硬件平台和软件算法，其目标是促进亚秒级的人-机器人同步。为此，PI将利用音乐媒体，这是对时间要求最高的媒体之一，其中毫秒的准确性至关重要，因为超过10毫秒的异步操作对听众来说是显而易见的。具体地说，PI将开发多达三种不同的机器人设备，旨在允许鼓手在他的有机功能手臂和新开发的机器人设备之间演奏和同步。最近，鼓手的手臂从肘部以下被截肢。此外，他还将开发和研究新型预测算法的效率，这些算法旨在预测人类行动发生之前，并以低延迟和及时的方式触发机器人行动。这项研究将在多个领域推进我们的理解，包括肢体操作的生物力学，用于预测和预测人类手势的机器学习技术，以及高精度的肌电机器人设备。广泛的影响：该项目最终将使大量截肢者受益，他们的生活质量可以通过使用低延迟亚秒同步的机械臂来改善。促进这种精确的亚秒级人-机器人同步也可以提高效率，并在其他人-机器人交互场景中提高流畅性，在这些场景中，人类和机器人必须合作以实现耗时的共同目标。这项研究创造的基于螺线管的新型机器人装置(S)也应该会让一般的音乐家(也就是说，没有残疾的音乐人)受益，他们将能够探索新颖的击鼓技术，创造新颖的音乐结果。

The Principal Investigator (PI) will explore and test a number of hardware platforms and software algorithms whose goal is to facilitate sub-second human-robot synchronization. To this end the PI will utilize the medium of music, one of the most time-demanding media where accuracy in milliseconds is critical because asynchronous operations of more than 10 ms are noticeable by listeners. Specifically, the PI will develop up to three different kinds of robotic devices intended to allow a drummer, whose arm was recently amputated from the elbow down, to play and synchronize between his organic functioning arm and the newly developed robotic devices. In addition, he will develop and investigate the efficiency of novel anticipation algorithms designed to foresee human actions before they take place and trigger robotic actions with low-latency and in a timely manner. This research will advance our understanding in a variety of areas, including the biomechanics of limb operations, machine-learning techniques for the anticipation and prediction of human gestures, and highly accurate myoelectric robotic devices.Broader Impacts: This project will ultimately benefit a large population of amputees whose quality of life could improve through the use of low-latency robotic limbs with sub-second synchronization. Facilitating such accurate sub-second human-robot synchronization could also improve efficiency and flow in other human-robot interaction scenarios where humans and robots must collaborate to achieve time-demanding common goals. The novel solenoid-based robotic device(s) created in this research should also benefit musicians in general (that is to say, who are not disabled), who will be able to explore novel drumming techniques and create novel musical results.