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arXiv · 2407.17275

Reacting on human stubbornness in human-machine trajectory planning

Julian Schneider·Niels Straky·Simon Meyer·Balint Varga·Sören Hohmann
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Abstract

In this paper, a method for a cooperative trajectory planning between a human and an automation is extended by a behavioral model of the human. This model can characterize the stubbornness of the human, which measures how strong the human adheres to his preferred trajectory. Accordingly, a static model is introduced indicating a link between the force in haptically coupled human-robot interactions and humans's stubbornness. The introduced stubbornness parameter enables an application-independent reaction of the automation for the cooperative trajectory planning. Simulation results in the context of human-machine cooperation in a care application show that the proposed behavioral model can quantitatively estimate the stubbornness of the interacting human, enabling a more targeted adaptation of the automation to the human behavior.

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Julian Schneider, Niels Straky, Simon Meyer, Balint Varga, Sören Hohmann. 2024-07-24. Reacting on human stubbornness in human-machine trajectory planning. https://arxiv.org/abs/2407.17275

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