Trustworthy Power Assistance in Object Manipulation with a Power Assist Robotic System

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


A 1-DOF power assist robotic system is developed for grasping and lifting objects tied with it by human operator. The dynamics of object manipulation with the system is derived, and a simple admittance-type feedback position control for the system is developed. Human operator's cognition in the form of weight perception is reflected when determining the control parameters. A computational model of power assistance provided by the system in object manipulation is proposed. Another computational model of operator's trust in the power assistance is also proposed. Then, the tradeoff between power assistance and trust is determined through experimentation. Results show that higher power assistance does not always generate higher trust of the operator in the robotic system. Instead, the tradeoff follows a special pattern. The reasons behind such tradeoff are analyzed. The results can be used to develop human-friendly intelligent power assist robotic systems for heavy object manipulation in different industries especially manufacturing and assembly.

Original languageEnglish (US)
Title of host publication2019 IEEE SoutheastCon, SoutheastCon 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728101378
StatePublished - Apr 2019
Event2019 IEEE SoutheastCon, SoutheastCon 2019 - Huntsville, United States
Duration: Apr 11 2019Apr 14 2019

Publication series

NameConference Proceedings - IEEE SOUTHEASTCON
ISSN (Print)0734-7502


Conference2019 IEEE SoutheastCon, SoutheastCon 2019
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Software
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Signal Processing


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