TY - GEN
T1 - Conceptualizing the Integration of Cognitive and Physical Models to Enable Continuous Human-Robot Interaction
AU - Hao, Chenxu
AU - Russwinkel, Nele
AU - Haeufle, Daniel F.B.
AU - Beckerle, Philipp
N1 - Green Open Access added to TU Delft Institutional Repository as part of the Taverne amendment. More information about this copyright law amendment can be found at https://www.openaccess.nl. Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
PY - 2025
Y1 - 2025
N2 - Research in human-robot interaction (HRI) often puts emphasis on either the cognitive level or on the physical level. In a scenario, where a robot physically guides a person to perform a complex series of tasks (e.g., a patient making tea), information is exchanged on the cognitive level and forces/torques are exchanged on the physical level, continuously. Such a continuous co-adaptive interaction between both agents and the environment requires the robot to be anticipating, proactive, and able to react flexibly to the user's intentions and situation context. The unification of sequential cognitive situation modeling and continuous robotic movement control is a challenge currently missing a conceptual framework. We conceptualize strategies on how to connect models of physical HRI and models of cognitive HRI, depending on the level of assistance provided by the robot system, from mere warnings of dangerous situations (level 1) to on-body continuous movement guidance (level 4). In this, we consider the requirements for the robot to be aware of the interaction environment and have a dynamic representation of the individual user. Our conceptual framework is intended to spark discussions and formalize assistance approaches with the aim to integrate cognitive and physical human-robot interaction approaches for anticipatory assistance in continuous dynamic tasks.
AB - Research in human-robot interaction (HRI) often puts emphasis on either the cognitive level or on the physical level. In a scenario, where a robot physically guides a person to perform a complex series of tasks (e.g., a patient making tea), information is exchanged on the cognitive level and forces/torques are exchanged on the physical level, continuously. Such a continuous co-adaptive interaction between both agents and the environment requires the robot to be anticipating, proactive, and able to react flexibly to the user's intentions and situation context. The unification of sequential cognitive situation modeling and continuous robotic movement control is a challenge currently missing a conceptual framework. We conceptualize strategies on how to connect models of physical HRI and models of cognitive HRI, depending on the level of assistance provided by the robot system, from mere warnings of dangerous situations (level 1) to on-body continuous movement guidance (level 4). In this, we consider the requirements for the robot to be aware of the interaction environment and have a dynamic representation of the individual user. Our conceptual framework is intended to spark discussions and formalize assistance approaches with the aim to integrate cognitive and physical human-robot interaction approaches for anticipatory assistance in continuous dynamic tasks.
KW - cognitive modeling
KW - human-robot interaction
UR - https://www.scopus.com/pages/publications/105012212727
U2 - 10.1109/CogSIMA64436.2025.11079490
DO - 10.1109/CogSIMA64436.2025.11079490
M3 - Conference contribution
AN - SCOPUS:105012212727
SN - 979-8-3315-3309-0
T3 - 2025 IEEE Conference on Cognitive and Computational Aspects of Situation Management, CogSIMA 2025
SP - 111
EP - 118
BT - Proceedings of the 2025 IEEE Conference on Cognitive and Computational Aspects of Situation Management (CogSIMA)
PB - IEEE
T2 - 2025 IEEE Conference on Cognitive and Computational Aspects of Situation Management, CogSIMA 2025
Y2 - 2 June 2025 through 5 June 2025
ER -