# Neuroadaptation in Physical Human-Robot Collaboration

arXiv: https://arxiv.org/abs/2310.00351 · HTML: https://mlsanity.com/paper/2310.00351/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 2 of its 49 references that are in the map.
- First posted on arXiv 30 Sep 2023.

## Builds on (most cited first, 2 of 2)

- [Continuous control with deep reinforcement learning](https://mlsanity.com/paper/1509.02971/) (2015)
- [An Introduction to Deep Reinforcement Learning](https://mlsanity.com/paper/1811.12560/) (2018)

## Abstract (arXiv)

Robots for physical Human-Robot Collaboration (pHRC) systems need to change their behavior and how they operate in consideration of several factors, such as the performance and intention of a human co-worker and the capabilities of different human-co-workers in collision avoidance and singularity of the robot operation. As the system's admittance becomes variable throughout the workspace, a potential solution is to tune the interaction forces and control the parameters based on the operator's requirements. To overcome this issue, we have demonstrated a novel closed-loop-neuroadaptive framework for pHRC. We have applied cognitive conflict information in a closed-loop manner, with the help of reinforcement learning, to adapt to robot strategy and compare this with open-loop settings. The experiment results show that the closed-loop-based neuroadaptive framework successfully reduces the level of cognitive conflict during pHRC, consequently increasing the smoothness and intuitiveness of human-robot collaboration. These results suggest the feasibility of a neuroadaptive approach for future pHRC control systems through electroencephalogram (EEG) signals.