Dynamic Allocation of Autonomy for Limited-Bandwidth Human-Robot Teams Based on Measures of Trust in the Human

Project: Research project

Project Details


Statement of Work This work proposes to investigate dynamically changing levels of autonomy and interaction, in order to facilitate a smoother and more intuitive sharing of control between a human and a robot. The approach aims to investigate performance measures of the human as well as the system, and to use these measures to adaptively allocate control between each. Measures of system performance, feedback from the human, and agreement between control signals from the human and autonomy will furthermore be used in this adaptation and also to update the formulation of the autonomy. The work of the project will consist of development of the technical components of the approach, their implementation on robot hardware, and evaluation via subject studies. Development and testing of all technical components will occur at the Assistive & Rehabilitation Robotics Laboratory directed by PI Argall and located at the Rehabilitation Institute of Chicago (RIC). The subject studies also will occur at RIC. IRB approval will be obtained from Northwestern for these studies. The goal will be to evaluate various components of the system formulation. No work will be performed on the Northwestern campus. The student funded on this project will be a graduate student at Northwestern.
Effective start/end date2/1/161/30/22


  • Rehabilitation Institute of Chicago (Agmt 10/26/16 // N00014-16-1-2247)
  • Office of Naval Research (Agmt 10/26/16 // N00014-16-1-2247)


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