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Journal of Human-Robot Interaction - Special Issue on Shared Control, Volume 4 Issue 3, December 2015

Introduction to the special issue on shared control: applications
Mark Mulder, David A. Abbink, Tom Carlson
Pages: 1-3
DOI: 10.5898/JHRI.4.3.Mulder

Shared control is an exciting up-and-coming engineering field that is blending the boundaries of control, where humans interact with robots or vehicles that are partly automated. The main challenges for robotics and automation today are posed by...

Toward trustworthy haptic assistance system for emergency avoidance of collision with a pedestrian
Makoto Itoh, Hiroto Tanaka, Toshiyuki Inagaki
Pages: 4-18
DOI: 10.5898/JHRI.4.3.Itoh

This paper proposes a haptic assistance system that provides momentary steering wheel torque to help the driver choose the steering direction for avoiding collision with a pedestrian. The results of an experiment with a driving simulator showed...

Haptic shared control in steering operation based on cooperative status between a driver and a driver assistance system
Ryota Nishimura, Takahiro Wada, Seiji Sugiyama
Pages: 19-37
DOI: 10.5898/JHRI.4.3.Nishimura

Haptic shared control is expected to achieve a smooth collaboration between humans and automated systems, because haptics facilitate mutual communication. A methodology for sharing a given task is important to achieve effective shared control....

Mixed-initiative control of a roadable air vehicle for non-pilots
Michael C. Dorneich, Emmanuel Letsu-Dake, Sanjiv Singh, Sebastian Scherer, Lyle Chamberlain, Marcel Bergerman
Pages: 38-61
DOI: 10.5898/JHRI.4.3.Dorneich

This work developed and evaluated a human-machine interface for the control of a roadable air vehicle (RAV), capable of surface driving, vertical takeoff, sustained flight, and landing. Military applications seek to combine the benefits of ground...

Average-position coordination for distributed multi-user networked haptic cooperation
Ramtin Rakhsha, Daniela Constantinescu
Pages: 62-75
DOI: 10.5898/JHRI.4.3.Rakhsha

Proportional-derivative (PD) control is often used to coordinate the two copies of the virtual environment in distributed two-users networked haptic cooperation. However, a distributed PD controller designed for force interactions between two...

Learning assistance by demonstration: smart mobility with shared control and paired haptic controllers
Harold Soh, Yiannis Demiris
Pages: 76-100
DOI: 10.5898/JHRI.4.3.Soh

In this paper, we present a framework, probabilistic model, and algorithm for learning shared control policies by observing an assistant. This is a methodology we refer to as Learning Assistance by Demonstration (LAD). As a subset of robot...

Robot-aided rehabilitation methodology for enhancing movement smoothness by using a human hand trajectory generation model with task-related constraints
Yoshiyuki Tanaka
Pages: 101-119
DOI: 10.5898/JHRI.4.3.Tanaka

Natural motion produced by the biological motor control system presents movement smoothness, but neurological disorders or injuries severely deteriorates motor functions. This paper proposes a robot-aided training methodology focusing on smooth...

Argumentation-based dialogue games for shared control in human-robot systems
Elizabeth I. Sklar, M. Q. Azhar
Pages: 120-148
DOI: 10.5898/JHRI.4.3.Sklar

Dialogue can support exchange of ideas and discussion of options as a means to enable shared decision making for human-robot collaboration. However, dialogue that supports dynamic, evidence-backed exchange of ideas is a major challenge for today's...

Enhancements to the planar active handrest
Mark A. Fehlberg, Hamidreza N. Sani, William R. Provancher
Pages: 149-169
DOI: 10.5898/JHRI.4.3.Fehlberg

The Planar Active Handrest (PAHR) is a large workspace assistive device that improves user precision manipulation. The PAHR is restricted in its use, because it does not rotate in the horizontal plane, which limits the workspace size and reduces...

A model for operator endpoint stiffness prediction during physical human-robot interaction
Antonio Moualeu, Jun Ueda
Pages: 170-193
DOI: 10.5898/JHRI.4.3.Moualeu

Physical contact established during interaction between a human operator and a haptic device creates a coupled system with stability and performance characteristics different than its individual subsystems taken in isolation. Proper incorporation...