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Title: Trends in Haptic Communication of Human-Human Dyads: Toward Natural Human-Robot Co-manipulation
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 groundwork in defining principles of co-manipulation between human dyads. We propose that these principles could enable effective and intuitive human-robot collaborative manipulation in future co-manipulation research.  more » « less
Award ID(s):
2024792
NSF-PAR ID:
10311919
Author(s) / Creator(s):
; ;
Date Published:
Journal Name:
Frontiers in Neurorobotics
Volume:
15
ISSN:
1662-5218
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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