Experiments with sensorimotor games in dynamic human/machine interaction

Benjamin Chasnov; Momona Yamagami; Behnoosh Parsa; Lillian J. Ratliff; Samuel A. Burden

doi:10.1117/12.2519258

13 May 2019 Experiments with sensorimotor games in dynamic human/machine interaction

Benjamin Chasnov, Momona Yamagami, Behnoosh Parsa, Lillian J. Ratliff, Samuel A. Burden

Proceedings Volume 10982, Micro- and Nanotechnology Sensors, Systems, and Applications XI; 109822A (2019) https://doi.org/10.1117/12.2519258
Event: SPIE Defense + Commercial Sensing, 2019, Baltimore, MD, United States

Abstract

While interacting with a machine, humans will naturally formulate beliefs about the machine's behavior, and these beliefs will affect the interaction. Since humans and machines have imperfect information about each other and their environment, a natural model for their interaction is a game. Such games have been investigated from the perspective of economic game theory, and some results on discrete decision-making have been translated to the neuromechanical setting, but there is little work on continuous sensorimotor games that arise when humans interact in a dynamic closed loop with machines. We study these games both theoretically and experimentally, deriving predictive models for steady-state (i.e. equilibrium) and transient (i.e. learning) behaviors of humans interacting with other agents (humans and machines). Specifically, we consider experiments wherein agents are instructed to control a linear system so as to minimize a given quadratic cost functional, i.e. the agents play a Linear-Quadratic game. Using our recent results on gradient-based learning in continuous games, we derive predictions regarding steady-state and transient play. These predictions are compared with empirical observations of human sensorimotor learning using a teleoperation testbed.

Citation Download Citation

Benjamin Chasnov, Momona Yamagami, Behnoosh Parsa, Lillian J. Ratliff, and Samuel A. Burden "Experiments with sensorimotor games in dynamic human/machine interaction", Proc. SPIE 10982, Micro- and Nanotechnology Sensors, Systems, and Applications XI, 109822A (13 May 2019); https://doi.org/10.1117/12.2519258

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