Trust-Based Impedance Control Strategy for Human-Robot Cooperative Manipulation

A trust-based switching impedance control strategy for human-robot cooperative manipulation is proposed. The robot behavior switches between the proactive and reactive modes based on the estimated trust of human in robot. The robot estimates the human desired trajectory. A history-based probabilistic trust model for human-robot cooperative manipulation tasks is proposed. Trust is modeled as a dynamic Bayesian network. In the proactive mode, the robot estimates the human desired trajectory and plans accordingly while in the reactive mode, the robot only reacts to the human input. A simulation of the trust-based switching impedance control strategy is presented.