Human Machine Collaborative Systems


The goal of the Human-Machine Collaborative Systems (HMCS) project is to investigate human-machine cooperative execution of small scale, tool-based manipulation activities. The basic principles of HMCS apply to many fine scale tasks such as microsurgery, opto-electronic assembly, assembling for microelectromechanical (MEMS) systems and cell manipulation. The motivation for collaborative systems is based on evidence suggesting that humans operating in collaboration with robotic mechanisms can take advantage of robotic speed and precision, but avoid the difficulties of full autonomy by retaining the human component ``in-the-loop'' for essential decision making and/or physical guidance.

Our approach to HMCS focuses on three inter-related problems: (1) Synthesis: the development of systems tools necessary for describing implementing an HMCS; (2) Modeling: given sensor traces of a human performing a task, segmenting those traces into logical task components and/or measuring the compatibility of a given HMCS structure to that sequence of components; and (3) Validation: measuring HMCS performance.



Related Publications

On-line Task Recognition and Real-Time Adaptive Assistance for Computer Aided Machine Control
(S. Ekvall, D. Aarno and D. Kragic)
IEEE Transactions on Robotics (in press)

Human Machine Collaborative Systems for Microsurgical Applications
(D. Kragic, P. Marayong, M. Li, A. M. Okamura, and G. D. Hager )
International Journal of Robotic Research, Volume 24, Issue 9, 731-742, 2005.

Layered HMM for Motion Intention Recognition
(D. Aarno and D. Kragic)
In IEEE/RSJ International Conference on Intelligent Robots and Systems 2006. IROS'06, Beijing, China

Task Learning Using Graphical Programming and Human Demonstrations
(S. Ekvall, D. Aarno and D. Kragic)
In RO-MAN 06: The 15th IEEE International Symposium on Robot and Human Interactive Communication University of Hertfordshire, UK

Adaptive Virtual Fixtures for Machine-Assisted Teleoperation Tasks
(D. Aarno, S. Ekvall and D. Kragic)
In IEEE International Conference on Robotics and Automation, 2005. ICRA'05, Barcelona, Spain

Human-Machine Collaborative Systems for Micro-scale Applications
(A.M. Okamura, D. Kragic, G.D. Hager, P. Marayong, M. Dewan, H. Lin and M. Li )
Workshop "Issues and Approaches to Task Level Control", (D. Botturi and P. Fiorini, eds.)
In IEEE/RSJ International Conference on Intelligent Robots and Systems , 2004. IROS'04, Sendai, Japan

Task Modeling and Specification for Modular Sensory Based Human-Machine Cooperative Systems
(Danica Kragic and Gregory D. Hager)
In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003. IROS'03, Las Vegas, USA

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