Haptic based guidance database

Project Information

The “Haptic based guidance database” is based on the work done in the REINS project funded by the UK Engineering and Physical Sciences Research Council (EPSRC) under grant no. EP/I028765/1. For any questions and comments on the page do not hesitate to ask and write Anuradha (email: anuradha.ranasinghe@kcl.ac.uk ) or Thrishantha (thrish.antha@kcl.ac.uk)

The aims: Experiments were carried out to identify salient features in  haptic based guiding where one person with limited auditory and visual perception of the environment (a follower), is guided by an agent with full perceptual capabilities (a guider), via a hard rein along a given path.

Experiment 1: Extracting guiding/following control policies

The aim is to extract the guiding and following control policies when a human (a follower) is guided by another human (a guider) via a hard rein with no visual feedback. Moreover, the arm muscle co-contraction in guiding is studied.

Experimental setup

MTx motion captures were mounted on the chest of the guider and the follower. EMG sensors were attached on the upper arm on the guider.

MTx motion captures were mounted on the chest of the guider and the follower. EMG sensors were attached on the upper arm of the guider.

Experiments were conducted with 15 naive pairs of subjects.  MTx motion trackers were used to track the motion and Electromyography (EMG) sensors were used to record the muscle activity.

Downlad experimental data:

The recording from MTx motion trackers and EMG sensor can be found from  (Please follow the the link and download the Experiment 1.zip. The data structure and the organization can be found from the Readme.txt ) The related publications can be found from here

Experiment 2: Modelling the follower’s trust in different paths

The experiment 2 was conducted to obtain a measurable quantity related with trust of the follower in different path tracking contexts.  Fourteen naive pairs of subjects participated in 10 trials each for three different paths as shown in below.  MTx motion tracked was mounted on the chest of the follower to record the acceleration. In addition to that, ATI mini40 force torque transducer was attached on the follower’s handle.

Download experimental data: The recording from MTx motion trackers and ATI mini40 force torque transducer data can be found from  (Please follow the the link and download the Experiment 2.zip. The data structure and the organization can be found from the Readme.txt ). The related publications can be found from here

The experimental setup:

The experimental layout of trust studies: P1: Ninety degree turn, P2: Sixty degree turn, and P3: Straight path

The experimental layout of trust studies: P1: Ninety degree turn, P2: Sixty degree turn, and P3: Straight path

Experiment 3: Validating the guider’s control policy

Experiment 3 was conducted to validate the guider’s control policy and test its stability with 10 naive subjects. Each subject participated in 3 trials when the guiding control policy identified from human-human demonstrations was implemented  on a 1-DoF planar robotic arm to generate swing actions to guide a human follower to a desired point.

Experimental setup:

The guider's control policy was implemented on a planner 1-DoF robotic arm to generate the swing arm action in horizontal plane

The guider’s control policy was implemented on a planner 1-DoF robotic arm to generate the swing arm action in horizontal plane

The guiding control policy identified from human-human demonstrations was implemented  on a 1-DoF planar robotic arm. The encoder read instantaneous error of the blindfolded subject’s position relative to the desired angular position.

 

Downlad experimental data: The recording from the encoder can be found from  (Please follow the the link and download the Experiment 3.zip. The data structure and the organization can be found from the Readme.txt ). The related publications can be found from here

For citation of the human interaction  please use the following:

  1. Ranasinghe, Anuradha, Jacques Penders, Prokar Dasgupta, Kaspar Althoefer, &  Thrishantha Nanayakkara, “Salient feature of haptic based guidance of people in low visibility environments using hard reins”,  IEEE Transactions on Systems, Man, and Cybernetics, Part B. (in press) PDF
  2. Ranasinghe, Anuradha, Jacques Penders, Prokar Dasgupta, Kaspar Althoefer, and Thrishantha Nanayakkara. “A two party haptic guidance controller via a hard rein.” In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp. 116-122. IEEE, 2013.
  3.  Ranasinghe, Anuradha, Kaspar Althoefer, Thrishantha Nanayakkara, Jacques Penders, and Prokar Dasgupta. “An Optimal State Dependent Haptic Guidance Controller via a Hard Rein.” In Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on, pp. 2322-2327. IEEE, 2013. (This paper was short-listed  at  IEEE SMC2013 conference for the Franklin Taylor Memorial Award for the best paper and the Best Student Paper Award)
  4. Penders, J., Jones, P., Ranasinghe, Anuradha. & Nanayakkara, Thrishantha. “Enhancing       trust and confidence in human robot interaction,. UKRE, Sheffield, 25-3, 2013.

Related media reports

Interview with CBS/KCBS radio news, San Francisco

Full youtube video

UK Engineering and Physical Sciences Research Council (EPSRC) press release

King’s College London news 

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