Modeling and analysis of pHRI with Differential Game Theory

TL;DR

This paper explores the use of Cooperative Differential Game Theory to model and analyze physical Human-Robot Interaction in cooperative tasks, comparing it with other control strategies through simulations and preliminary human tests.

Contribution

It introduces a novel control approach based on Cooperative Game Theory for pHRI and evaluates its effectiveness against traditional methods through simulations and initial human trials.

Findings

Cooperative GT improves assistance when the robot should support the human.

Non-Cooperative GT is better when the robot needs to lead.

Control parameter tuning significantly affects system response and effort.

Abstract

Applications involving humans and robots working together are spreading nowadays. Alongside, modeling and control techniques that allow physical Human-Robot Interaction (pHRI) are widely investigated. To better understand its potential application in pHRI, this work investigates the Cooperative Differential Game Theory modeling of pHRI in a cooperative reaching task, specifically for reference tracking. The proposed controller based on Collaborative Game Theory is deeply analyzed and compared in simulations with two other techniques, Linear Quadratic Regulator (LQR) and Non-Cooperative Game-Theoretic Controller. The set of simulations shows how different tuning of control parameters affects the system response and control efforts of both the players for the three controllers, suggesting the use of Cooperative GT in the case the robot should assist the human, while Non-Cooperative GT represents a better choice in the case the robot should lead the action. Finally, preliminary tests with a trained human are performed to extract useful information on the real applicability and limitations of the proposed method.