        
 Communication and cooperation among team members can be enhanced significantly with physical interaction.  Successful collaboration requires the integration of the individual partners' intentions into a shared action plan, which may involve a continuous negotiation of intentions and roles. This paper presents an adaptive haptic shared control framework wherein a human driver and an automation system are physically connected through a motorized steering wheel. By haptic feedback, each of the agents monitors each other actions and adjust their stiffness/damping accordingly. In this paper, to increase the customizability feature of the co-robot, a cost function for the co-robot is defined. The terms of the cost function are defined to not only ensure the task performance but also minimize the conflict between the human and co-robot. To minimize the cost function, the co-robot adopts different parameters for the impedance controller parameters. To this end, we developed an adaptive nonlinear model predictive controller, and the Continuation\\\_GMRES method is used for the numerical results. The simulation demonstrates the effectiveness of the proposed approach.


Adaptive Impedance Control for the Haptic Shared Driving Task Based on Nonlinear Mpc

Division / Sponsors: 
Dynamic Systems & Control (DSCD)

Paper Proceedings: https://asmedigitalcollection.asme.org/DSCC/DSCC2020/volume/84270

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