Assisting versus repelling force-feedback for human learning of a line following task

Previous work has shown that training with `assist-as-needed´ method using force-feedback joystick can improve driving performance of children and adults. This work is the first study to evaluate training with a repelling force versus an assisting force for learning of a line following task. We designed a robotic training wheelchair that can accurately localize itself in the training environment, and implemented assisting and repelling force fields on the force-feedback joystick. The training protocol included three groups. The control (CT) group received no force feedback. The assisting force (AF) group was trained using the `assist-as-needed´ paradigm. The repelling force (RF) group was trained with the repelling force field. We observed that both the AF and RF group improved their driving skills, however, the RF group had the greatest trajectory error reduction. We believe that this pilot study could provide a promising foundation regarding robotic wheelchair algorithm effects on adult learning.