  This paper addresses a data-driven framework, modeling expert driving skills
for performance-based haptic assistance using neural networks (NNs). We have
built a haptic driving training simulator to collect expert driving data and to
provide proper haptic feedback. We establish an expert driving skill model by
training NNs with the collected data. Then, the skill model is applied to
performance-based haptic assistance to provide optimized references of the
steering/pedaling movements. We evaluate the skill model and its application to
performance-based haptic assistance in two user experiments. The results of the
first experiment demonstrate that our skill model has appropriately captured
experts' steering/pedaling skills. The results of the second experiment show
that our performance-based haptic assistance can help novice drivers perform
steering as expert drivers, but cannot assist their pedaling performance.
