  In this paper, a method for a cooperative trajectory planning between a human
and an automation is extended by a behavioral model of the human. This model
can characterize the stubbornness of the human, which measures how strong the
human adheres to his preferred trajectory. Accordingly, a static model is
introduced indicating a link between the force in haptically coupled
human-robot interactions and humans's stubbornness. The introduced stubbornness
parameter enables an application-independent reaction of the automation for the
cooperative trajectory planning. Simulation results in the context of
human-machine cooperation in a care application show that the proposed
behavioral model can quantitatively estimate the stubbornness of the
interacting human, enabling a more targeted adaptation of the automation to the
human behavior.
