Human Adaptive Assist Planning for Teleoperation System: Assists without Human Awareness

摘要

This paper addresses a new technique of a teleoperation assist to adapt to human operation. Although effects of the teleoperation assist functions are generally contemplated by system designers, the effect depends on variable operator's characteristics. However, because human operators tries to adapt and learn the robot dynamics instinctively, such assist often brings discomfort. In this paper, especially, an assist planning without human perception using a cognitive science approach is discussed.