In this paper, a method for a cooperative trajectory planning between a human and an automation is extended by a behavioral model of the human. This model can characterize the stubbornness of the human, which measures how strong the human adheres to his preferred trajectory. Accordingly, a static model is introduced indicating a link between the force in haptically coupled human-robot interactions and humans's stubbornness. The introduced stubbornness parameter enables an application-independent reaction of the automation for the cooperative trajectory planning. Simulation results in the context of human-machine cooperation in a care application show that the proposed behavioral model can quantitatively estimate the stubbornness of the interacting human, enabling a more targeted adaptation of the automation to the human behavior.

翻译：本文通过引入人类行为模型，扩展了一种人与自动化系统之间的协同轨迹规划方法。该模型能够表征人类的固执性，即人类对其偏好轨迹的坚持程度。相应地，我们提出了一个静态模型，揭示了触觉耦合人机交互中的力与人类固执性之间的关联。所引入的固执性参数使得自动化系统在协同轨迹规划中能够做出与具体应用无关的响应。在护理应用中的人机协作仿真结果表明，所提出的行为模型能够定量估计交互中人类的固执性，从而使自动化系统能更有针对性地适应人类行为。