Personalized and Adaptive Cognitive Human-Robot Interaction with a Novel Fuzzy Logic Control and Reinforcement Learning-Based Paradigm

Personalized and Adaptive Cognitive Human-Robot Interaction with a Novel Fuzzy Logic Control and Reinforcement Learning-Based Paradigm: Master Thesis Report

Munster, Marcel (TU Delft Aerospace Engineering)

Jamshidnejad, A. (mentor)
van Paassen, M.M. (graduation committee)
Eisma, Y.B. (graduation committee)

Delft University of Technology

Aerospace Engineering

2023-05-10

An aging population puts a pressure on health-care workers working with dementia patients globally. A potential solution is to provide care with Socially Assistive Robots (SARs), i.e. robots who help people through social interaction. However, for effective care these SARs must be able to personalize their behavior to individual patients and adapt this behavior to changes in this patient’s references. This paper presents the decision making process of a SAR that enables the SAR to personalize its behavior to the personality of the patients and adapt this behavior to their current state-of-mind. The system consists of a Fuzzy Logic Control personalization module, which personalizes the SAR’s behavior and a Reinforcement Learning based decision making module together with a Fuzzy Logic Control reward module for the adaption of the personalized behavior. The personalization of the SAR’s behavior is assessed by comparing the output of the system with answers from a survey. The average scatter index over all different behavioral parameters of the SAR is 20.4% The adaptation of the behavior is assessed with computer-based simulations, where an overall accuracy of 81.8% is achieved. A third experiment is carried out to assess the effect of adding the Fuzzy Logic Control personalization module to the system. This experiment shows that adding the personalization module to the decision making system of the SAR decreases the time for the learning process to converge with 13.3%. Although the first assessments of the system look promising, more extensive experiments should be held in later stages of the research. A crucial experiment that must be held in future research is performing real-life interactions between dementia patients and the SAR, in such an experiment the functionality of the system really can be assessed.

Socially Assistive Robots
Personalization
Adaptation
Reinforcement Learning
Fuzzy Logic Control
Dementia Care

http://resolver.tudelft.nl/uuid:06cedee9-218d-43bd-a246-75acd75842ce

Student theses

master thesis

© 2023 Marcel Munster