Physical Sciences and Mathematics Commons^™

Determining The Benefit Of Human Input In Human-In-The-Loop Robotic Systems, Christine Elizabeth Bringes

USF Tampa Graduate Theses and Dissertations

This work analyzes human-in-the-loop robotic systems to determine where human input can be most beneficial to a collaborative task. This is accomplished by implementing a pick-and-place task using a human-in-the-loop robotic system and determining which segments of the task, when replaced by human guidance, provide the most improvement to overall task performance and require the least cognitive effort.

The first experiment entails implementing a pick and place task on a commercial robotic arm. Initially, we look at a pick-and-place task that is segmented into two main areas: coarse approach towards a goal object and fine pick motion. For the fine …