Effect of mechanical resistance on cognitive conflict in physical human-robot collaboration

Aldini, S; Akella, A; Singh, AK; Wang, YK; Carmichael, M; Liu, D; Lin, CT

Effect of mechanical resistance on cognitive conflict in physical human-robot collaboration

Aldini, S

Akella, A

Singh, AK

Wang, YK

Carmichael, M

Liu, D

Lin, CT

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Publication Type:: Conference Proceeding
Citation:: Proceedings - IEEE International Conference on Robotics and Automation, 2019, 2019-May pp. 6137 - 6143
Issue Date:: 2019-05-01

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Field	Value	Language
dc.contributor.author	Aldini, S https://orcid.org/0000-0001-5411-3850	en_US
dc.contributor.author	Akella, A https://orcid.org/0000-0002-8719-5466	en_US
dc.contributor.author	Singh, AK https://orcid.org/0000-0002-6539-9695	en_US
dc.contributor.author	Wang, YK https://orcid.org/0000-0001-8390-2664	en_US
dc.contributor.author	Carmichael, M https://orcid.org/0000-0001-8439-0074	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Lin, CT https://orcid.org/0000-0001-8371-8197	en_US
dc.date.available	2021-05-25T19:02:01Z
dc.date.issued	2019-05-01	en_US
dc.identifier.citation	Proceedings - IEEE International Conference on Robotics and Automation, 2019, 2019-May pp. 6137 - 6143	en_US
dc.identifier.isbn	9781538660263	en_US
dc.identifier.issn	1050-4729	en_US
dc.identifier.uri	http://hdl.handle.net/10453/133711
dc.description.abstract	© 2019 IEEE. Physical Human-Robot Collaboration (pHRC) is about the interaction between one or more human operator(s) and one or more robot(s) in direct contact and voluntarily exchanging forces to accomplish a common task. In any pHRC, the intuitiveness of the interaction has always been a priority, so that the operator can comfortably and safely interact with the robot. So far, the intuitiveness has always been described in a qualitative way. In this paper, we suggest an objective way to evaluate intuitiveness, known as prediction error negativity (PEN) using electroencephalogram (EEG). PEN is defined as a negative deflection in event related potential (ERP) due to cognitive conflict, as a consequence of a mismatch between perception and reality. Experimental results showed that the forces exchanged between robot and human during pHRC modulate the amplitude of PEN, representing different levels of cognitive conflict. We also found that PEN amplitude significantly decreases (mathrm {p} lt 0.05) when a mechanical resistance is being applied smoothly and more time in advance before an invisible obstacle, when compared to a scenario in which the resistance is applied abruptly before the obstacle. These results indicate that an earlier and smoother resistance reduces the conflict level. Consequently, this suggests that smoother changes in resistance make the interaction more intuitive.	en_US
dc.relation	http://purl.org/au-research/grants/arc/LP140100950
dc.relation.ispartof	Proceedings - IEEE International Conference on Robotics and Automation	en_US
dc.relation.isbasedon	10.1109/ICRA.2019.8793748	en_US
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.title	Effect of mechanical resistance on cognitive conflict in physical human-robot collaboration	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2019-May	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Computer Science
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAI - Centre for Artificial Intelligence
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US
pubs.volume	2019-May	en_US

Abstract:

© 2019 IEEE. Physical Human-Robot Collaboration (pHRC) is about the interaction between one or more human operator(s) and one or more robot(s) in direct contact and voluntarily exchanging forces to accomplish a common task. In any pHRC, the intuitiveness of the interaction has always been a priority, so that the operator can comfortably and safely interact with the robot. So far, the intuitiveness has always been described in a qualitative way. In this paper, we suggest an objective way to evaluate intuitiveness, known as prediction error negativity (PEN) using electroencephalogram (EEG). PEN is defined as a negative deflection in event related potential (ERP) due to cognitive conflict, as a consequence of a mismatch between perception and reality. Experimental results showed that the forces exchanged between robot and human during pHRC modulate the amplitude of PEN, representing different levels of cognitive conflict. We also found that PEN amplitude significantly decreases (mathrm {p} lt 0.05) when a mechanical resistance is being applied smoothly and more time in advance before an invisible obstacle, when compared to a scenario in which the resistance is applied abruptly before the obstacle. These results indicate that an earlier and smoother resistance reduces the conflict level. Consequently, this suggests that smoother changes in resistance make the interaction more intuitive.

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