Trends in Haptic Communication of Human-Human Dyads: Toward Natural Human-Robot Co-manipulation.

ABSTRACT: In this paper, we analyze and report on observable trends in human-human dyads performing collaborative manipulation (co-manipulation) tasks with an extended object (object with significant length). We present a detailed analysis relating trends in interaction forces and torques with other metrics and propose that these trends could provide a way of improving communication and efficiency for human-robot dyads. We find that the motion of the co-manipulated object has a measurable oscillatory component. We confirm that haptic feedback alone represents a sufficient communication channel for co-manipulation tasks, however we find that the loss of visual and auditory channels has a significant effect on interaction torque and velocity. The main objective of this paper is to lay the essential gr

SUBMITTER: Jensen SW 

PROVIDER: S-EPMC7925623 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature