Game-Theoretic Intent Negotiation in a Haptic Shared Control Paradigm

This paper aims to introduce a platform for exploring the interaction patterns between the human and co-robot in haptic shared control paradigm. The human and co-robot are modeled as two-level hierarchical controllers wherein the higher-level represent the decision-making level and the lower-level acts as the impedance controller. We employed the Nash approach to present how different information patterns will influence the two agents' interaction patterns.