Shared control is the sharp end of cooperation: Towards a common framework of joint action, shared control and human machine cooperation

Frank Flemisch , David Abbink , Makoto Itoh , Marie-Pierre Pacaux-Lemoine (1) , Gyna Wessel

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

As an introduction to the session of shared and cooperative control, this article will briefly look into the history, start with definitions and sketch a common framework of shared and cooperative control that sees the two phrases not as different concepts, but as different perspectives or foci on a common design space of shared intentionality, control and cooperation between humans and machines. One working hypothesis which the session will explore is that shared control can be understood as cooperation at the control level, while human machine cooperation can include shared control, but can also extend towards cooperation at higher levels, e.g. of guidance and navigation, of maneuvers and goals. We propose to view the relationship between shared control and human-machine cooperation as being similar to the relationship between the sharp, pointy tip and the (blunt) shaft of a spear. Shared control is where cooperation comes sharply into effect at the control level, but to be truly effective it should be supported by cooperation on all levels of interaction beyond the control level, e.g. on the guidance and navigation level.

Mots clés: human machine systems; human machine cooperation; joint action; shared control

Domaines: Automatique / Robotique

Frank Flemisch, David Abbink, Makoto Itoh, Marie-Pierre Pacaux-Lemoine, Gyna Wessel. Shared control is the sharp end of cooperation: Towards a common framework of joint action, shared control and human machine cooperation. 13th IFAC Symposium on Analysis, Design, and Evaluation ofHuman-Machine Systems HMS 2016, Aug 2016, Kyoto, Japan. ⟨hal-03417231⟩