Systematic analysis of the mechanisms of physical human-human interaction (pHHI) requires adequate computational modelling framework. Recently differential game theory modelsâa multi-agent counterpart of optimal controlâhave been used to analyse sensorimotor collaborative strategies. A task can be defined by a pair of quadratic cost functionals (one per partner). The âplantâ is constituted by the two partnersâ body dynamics plus their mechanical links (if any). Every partner has his/her own sensory system. In analogy with single-agent dynamics, we assume that each partner maintains an internal model or state observer of own and partnerâs dynamics. The framework naturally incorporates the effects of noisy or incomplete sensory information about own body state. Different interaction strategies can be simulated, ranging from âoptimalâ collaboration (Nash equilibrium) to no collaboration (two separate LQG controllers). We compared the model predictions with an experimental scenario in which two partners have partly conflicting goalsâa reaching task with different via-points. This framework also reproduces behavioursâlike âslackingââthat are typical of the robot-human interaction in robot-assisted adaptation or rehabilitation trials.
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|Titolo:||Modelling collaborative strategies in physical human-human interaction|
|Data di pubblicazione:||2017|
|Appare nelle tipologie:||04.01 - Contributo in atti di convegno|