Prediction-Error Negativity to Assess Singularity Avoidance Strategies in Physical Human-Robot Collaboration

Stefano Aldini,Avinash K. Singh,Marc Carmichael,Yu-Kai Wang,Dikai Liu,Chin-Teng Lin,Stefano Aldini,Avinash K. Singh,Marc Carmichael,Yu-Kai Wang,Dikai Liu,Chin-Teng Lin

In physical human-robot collaboration (pHRC), singularity avoidance strategies are often critical to obtain stable interaction dynamics. It is hypothesised a predictable singularity avoidance strategy is preferred in pHRC as humans tend to maximise predictability when using complex systems. By using an electroencephalogram (EEG), it is possible to assess the predictability of a task through a feat...