MPC-based Haptic Shared Steering System: A Driver Modeling Approach for Symbiotic Driving

Advanced Driver Assistance Systems (ADAS) aim to increase safety and reduce mental workload. However, the gap in the understanding of the closed-loop driver-vehicle interaction often leads to reduced user acceptance. In this study, an optimal torque control law is calculated online in the Model Predictive Control (MPC) framework to guarantee...

Haptic assistance improves tele-manipulation with two asymmetric slaves

Tele-manipulation of heavy loads typically requires the simultaneous use of two asymmetric slaves: a crane for vertical weight support; and a robot for accurate lateral positioning. The industrial standard prescribes a pair of operators for such tasks (one operator to control each slave), although in principle one operator might control both...