Role Negotiation in a Haptic Shared Control Framework

Haptic shared control is a promising means for combining the best of human manual control with automatic control, keeping the human in the loop while avoiding automation pitfalls. In this study, we consider a situation in which both human and the automation system recognize an obstacle but choose different paths of avoidance. While the driver and automation have similar perceptions of the situation, the commands they issue are incompatible and their simple sum is most likely dangerous. To resolve this issue, this study is focused on exploring how roles ( i.e. leader and follower) in a haptic collaboration can be negotiated and exchanged between the two partners. Specifically, we test the influence of the timing of cues to promote adoption of leader and follower roles in a shared control task. Preliminary results suggest that haptic feedback can enhance drivability and prevent accidents.