Prediction-Error Negativity to Assess Singularity Avoidance Strategies in Physical Human-Robot Collaboration
Stefano Aldini Avinash K. Singh Marc Carmichael Yu-Kai Wang Dikai Liu Chin-Teng Lin Stefano Aldini Avinash K. Singh Marc Carmichael Yu-Kai Wang Dikai Liu Chin-Teng Lin
In physical human-robot collaboration (pHRC), singularity avoidance strategies are often critical to obtain stable interaction dynamics. It is hypothesised a predictable singularity avoidance strategy is preferred in pHRC as humans tend to maximise predictability when using complex systems. By using an electroencephalogram (EEG), it is possible to assess the predictability of a task through a feat...