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Experimental Evaluation of a 2-DoF Haptic Shared Control System Based on Pilot Intent Estimation

MPG-Autoren
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Olivari,  M
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Bülthoff,  HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

Externe Ressourcen

https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8616543
(Verlagsversion)

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Zitation

D'Intino, G., Aranella, A., Olivari, M., Bülthoff, H., & Pollini, L. (2019). Experimental Evaluation of a 2-DoF Haptic Shared Control System Based on Pilot Intent Estimation. In 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) (pp. 3225-3230). Piscataway, NJ, USA: IEEE. doi:10.1109/SMC.2018.00546.


Zitierlink: https://hdl.handle.net/21.11116/0000-0002-4B38-C
Zusammenfassung
This paper presents the experimental evaluation of a novel haptic shared control system. The proposed system was designed to help human operators to perform a maneuver that is not known in advance. A Pilot Intent Estimator (PIE) was implemented to estimate the unknown trajectory that a human pilot intends to follow. Then, a haptic feedback was designed to mimic the behavior of a skilled pilot that tracks the estimated trajectory. A human-in-the-loop experiment was performed to evaluate the developed shared control system in a 2 Degrees-of- Freedom (DoF) control task. Results showed the effectiveness of the PIE to estimate the correct pilot intended path. Furthermore, the developed haptic system helped participants to achieve better performance to follow the estimated trajectory, compared to manual control.