Reacting on human stubbornness in human-machine trajectory planning

TL;DR

This paper introduces a behavioral model for human stubbornness in cooperative trajectory planning, allowing automation to adapt more effectively to human preferences in human-machine interactions.

Contribution

The paper extends trajectory planning methods by modeling human stubbornness, linking it to force in interactions, and enabling automation to adapt based on this parameter.

Findings

The model can quantitatively estimate human stubbornness.

Simulation shows improved automation adaptation to human behavior.

Behavioral model enhances cooperation in human-machine systems.

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.