CAREER: Facilitating Human Interaction with Assistive Robots Through Intent Signaling and Inference

职业：通过意图信号和推理促进人类与辅助机器人的交互

• 批准号: 1944833
• 负责人: Wenlong Zhang
• 金额: $ 55.18万
• 依托单位: Arizona State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2020
• 资助国家: 美国
• 起止时间: 2020-09-01 至 2025-08-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1944833&HistoricalAwards=false
• 关键词: CAREER; Facilitating; Human; Interaction; Assistive

This Faculty Early Career Development Program (CAREER) grant will develop a novel game-theoretic framework addressing the emerging challenge of joint intent inference during physical human/machine interaction. Physical human-machine interaction has become ubiquitous in collaborative manufacturing, robot-aided rehabilitation, and robotic surgery. However, most existing robots lack high-level intelligence to reason about, adapt to, and potentially shape human actions within the context of collaborative tasks. This interdisciplinary project merges game theory, optimal control methods, and ideas gleaned from cognitive hierarchy theory to address the joint inference problem within the exemplar application of a powered knee exoskeleton used for gait rehabilitation. This project will promote the progress of science and advance the national health by developing a novel control framework that will enable an embodied machine intelligence to understand noisy human motor actions, thereby facilitating human learning of motor tasks. In doing so, this project will improve user experience and the productivity of future human-robot teams. The impact of this project will be broadened by developing new curriculum on human-robot interaction, through joint workshops with healthcare partners, and by offering summer internships for Science, Technology, Engineering, and Math (STEM) teachers.This project addresses significant challenges pertaining to joint intent inference during human-machine physical interaction. The application is that of a powered knee exoskeleton used for gait rehabilitation. The project pursues three specific research activities. The first creates a model of the human's cognitive state when interacting physically with a robot. The model explicitly considers human-machine interaction dynamics, mutual learning, and multi-level intent inference. The second formulates a motion planning and control problem, which will allow the robot both to signal its intents and to facilitate human motor learning based on the identified cognitive and biomechanical models of the human. The third will quantify human performance variability and use it to improve intent inference and signaling performance. Human subject experiments will provide the data needed to build the model of human cognitive state (including intent), to demonstrate improved human-robot team performance over existing robot controllers, and to help understand fundamental mechanisms contributing to effective physical human-robot interaction. A key innovation of this project is the creation of a task-agnostic framework that leverages models of human cognitive and motor dynamics such that an intelligent machine can dynamically adjust its behavior to simultaneously facilitate human learning and provide physical assistance when needed.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该教师早期职业发展计划（CAREER）拨款将开发一种新的游戏理论框架，解决物理人机交互过程中联合意图推理的新挑战。物理人机交互在协作制造、机器人辅助康复和机器人手术中已经变得无处不在。然而，大多数现有的机器人缺乏高水平的智能，无法在协作任务的背景下推理、适应和潜在地塑造人类的行为。这个跨学科的项目融合了博弈论，最优控制方法和从认知层次理论中收集的想法，以解决用于步态康复的动力膝关节外骨骼的示例应用中的联合推理问题。该项目将通过开发一种新的控制框架来促进科学进步和促进国民健康，该框架将使具体的机器智能能够理解嘈杂的人类运动动作，从而促进人类学习运动任务。通过这样做，该项目将改善用户体验和未来人机团队的生产力。该项目的影响将通过开发新的人机交互课程，与医疗合作伙伴联合举办研讨会，以及为科学，技术，工程和数学（STEM）教师提供暑期实习来扩大。该项目解决了人机物理交互期间联合意图推理的重大挑战。该应用是用于步态康复的动力膝关节外骨骼的应用。该项目开展三项具体的研究活动。第一个模型创建了人类与机器人进行物理交互时的认知状态。该模型明确考虑了人机交互动态，相互学习和多级意图推理。第二制定的运动规划和控制问题，这将使机器人既信号其意图，并促进人类运动学习的基础上确定的人类的认知和生物力学模型。第三个将量化人的表现变异性，并使用它来提高意图推理和信号性能。人类受试者实验将提供建立人类认知状态（包括意图）模型所需的数据，以证明与现有机器人控制器相比，人类-机器人团队的性能有所改善，并帮助理解有助于有效的物理人类-机器人交互的基本机制。该项目的一个关键创新是创建了一个任务-利用人类认知和运动动力学模型的不可知框架，使智能机器可以动态调整其行为，同时促进人类学习并在需要时提供物理帮助。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查进行评估，被认为值得支持的搜索.

项目成果

Invariant Extended Kalman Filtering for Human Motion Estimation with Imperfect Sensor Placement

• DOI: 10.23919/acc53348.2022.9867745
• 发表时间: 2022-05
• 期刊: 2022 American Control Conference (ACC)
• 作者: Zenan Zhu;S. M. R. Sorkhabadi;Yan Gu;Wenlong Zhang

Human Assistance and Augmentation with Wearable Soft Robotics: a Literature Review and Perspectives

• DOI: 10.1007/s43154-021-00067-0
• 发表时间: 2021-12
• 期刊: Current Robotics Reports
• 作者: Emiliano Quiñones Yumbla;Zhi Qiao;Weijia Tao;Wenlong Zhang

Design and Evaluation of an Invariant Extended Kalman Filter for Trunk Motion Estimation With Sensor Misalignment

用于传感器失准躯干运动估计的不变扩展卡尔曼滤波器的设计和评估

• DOI: 10.1109/tmech.2022.3175988
• 发表时间: 2022
• 期刊: IEEE/ASME Transactions on Mechatronics
• 作者: Zhu, Zenan;Sorkhabadi, Seyed Mostafa;Gu, Yan;Zhang, Wenlong
• 通讯作者: Zhang, Wenlong

Bounded Rational Game-theoretical Modeling of Human Joint Actions with Incomplete Information

不完全信息下人类联合行动的有界理性博弈论建模

• DOI: 10.1109/iros47612.2022.9982108
• 发表时间: 2022
• 期刊: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
• 作者: Wang, Yiwei;Shintre, Pallavi;Amatya, Sunny;Zhang, Wenlong
• 通讯作者: Zhang, Wenlong

Learning Post-Stroke Gait Training Strategies by Modeling Patient-Therapist Interaction

通过模拟患者与治疗师的互动来学习中风后步态训练策略

• DOI: 10.1109/tnsre.2023.3253795
• 发表时间: 2023
• 期刊: IEEE Transactions on Neural Systems and Rehabilitation Engineering
• 影响因子: 4.9
• 作者: Rezayat Sorkhabadi, Seyed Mostafa;Smith, Mason;Khodmbashi, Roozbeh;Lopez, Rachel;Raasch, Melissa;Maruyama, Trent;Kwasnica, Christina;Zhang, Wenlong
• 通讯作者: Zhang, Wenlong