Modeling of control delay in human-robot collaboration

Model-based approaches aiming to characterize human behavior when interacting with a controlled machine have been a matter of research investigation in various domains, from aerospace to semi-autonomous driving and robotics. Human-robot collaboration is one of the most exciting scenarios of application in which a continuous physical interaction between humans and the controlled plant is present. In this context, the human subject can adapt its control behavior to the external sensed dynamics. This capability has a significant observable effect on the control delay, making its characterization and prevision a crucial aspect to understand. This work investigates a linear modeling approach that uniquely describes human and robot control actions and applies to a collaborative robotic task.