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Online Intention Recognition in Computer-Assisted Teleoperation Systems

  • Nikolay Stefanov
  • Angelika Peer
  • Martin Buss
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6191)

Abstract

Limitations of state-of-the-art teleoperation systems can be compensated by using shared-control teleoperation architectures that provide haptic assistance to the human operator. This paper presents a new approach for computer-assisted teleoperation, which recognizes human intentions and dependent on the classified task activates different types of assistances. For this purpose, time series haptic data is recorded during interaction, passed through an event-based feature extraction, and finally used for task classification by applying a Hidden Markov Model approach. The effect of the assistance function on human behavior is discussed and taken into account by training multiple classifiers for each type of assistance. The introduced approach is finally validated in a real hardware experiment. Results show an accurate intention recognition for assisted and non-assisted teleoperation.

Keywords

teleoperation human intention recognition shared control computer assistance 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Nikolay Stefanov
    • 1
  • Angelika Peer
    • 1
  • Martin Buss
    • 1
  1. 1.Institute of Automatic Control EngineeringTechnische Universität MünchenMünchenGermany

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