Human Adaptive Assist Planning for Teleoperation

This paper addresses a new assistive scheme for enhancing the operation performance. We focus that the suitable assistive elements depend on variable operator´s characteristics as individuality, skill, robot and environmental condition etc. Effects of the assistive elements, therefore, are different according to the operators and circumstances. However, the assistive effects were generally contemplated by system designers without concern of variable human operators´ characteristics. Furthermore, required performances depend on the task which often include exclusive factors like promptness and safeness. This has possibilities to give adverse effects to the other elements against the designer´s intention. And also, costs of assistive elements should be considered because the resources of information presentation is limited. In order to improve these problems, in this paper, a planning technique to achieve adequate assists is proposed. The technique deals with an optimization problem between on-line estimated assistive effects and their assistive costs. Finally, abilities of the proposed technique are verified by some experiments