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Conference Paper

An Adaptive Haptic Aid System Based on Desired Pilot Dynamics (I)

MPS-Authors
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Olivari,  M
Max Planck Institute for Biological Cybernetics, Max Planck Society;
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Bülthoff,  HH
Max Planck Institute for Biological Cybernetics, Max Planck Society;
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

Aranella, A., D'Intino, G., Olivari, M., Bülthoff, H., & Pollini, L. (2019). An Adaptive Haptic Aid System Based on Desired Pilot Dynamics (I). In 2019 American Control Conference (ACC) (pp. 4866-4871). Piscataway, NJ, USA: IEEE.


Cite as: http://hdl.handle.net/21.11116/0000-0004-BD50-D
Abstract
This work proposes an Adaptive Haptic Aid system that adapts the amount of provided aid based on actual pilot performance. This is achieved by parameterizing the haptic system and adjusting the parameters on-line to match a desired closed loop performance. The parameters of the haptic aid are adjusted using a technique known as Model Reference Adaptive Control (MRAC), which has been widely studied in past years and applied to automatic control of plants with unknown dynamics. Simulations and experimental tests with naive and expert pilots show that the proposed Adaptive Haptic Aid system represents a promising solution for haptic aid design.