Reacting on human stubbornness in human-machine trajectory planning

Julian Schneider, Niels Straky, Simon Meyer, Balint V arga and S oren Hohmann 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 . I. INTRODUCTION With the advent of Industry 4.0, it's conceivable that Care 4.0 could be next [1]. There exists considerable unexplored potential in robotic systems within the caregiving area [2]. The support of intelligent systems could enable people in need of care longer independent living, possibly in their own homes [3].