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Human Trust and Cognitive Effort Associated with Operating a Powered Exoskeleton with Varying Levels of Autonomy
DescriptionStrategies for controlling a body-worn robot must also consider the user’s cognitive effort along with the level of physical assistance provided for better task performance and safety in human-robot interaction (HRI). Therefore, our study aimed to evaluate a user’s cognitive effort and trust in HRI when operating a powered upper-body exoskeleton in three different control modes: Autonomous, Manual, and Shared autonomy. Participants used the exoskeleton to perform two blocks of 18 repetitive point-and-reach tasks in each control mode. We measured gaze movement, pupil dilation information using an eye tracker, and perceived trust in HRI and task demands using 10-item Trust and 6-item NASA-TLX questionnaires. Shared autonomy incurred the lowest effort, and users found the mode most engaging. Shared autonomy allows effective human-robot collaboration in complex tasks while lowering the overall effort the user must exert to perform repetitive tasks.
Event Type
Lecture
TimeWednesday, September 11th9:45am - 10:05am MST
LocationFlagstaff
Tracks
Human AI Robot Teaming (AI)