Abstract
A relationship between movement time and traveled distance of a cooperative object transfer performed by two humans using their right hands in a seated position was investigated. The relationship will be utilized with a minimum jerk model to generate a smooth cooperative manipulator motion in Human-Robot cooperative system. The cooperative task experiments for the system were carried out in up direction. We deliver the relationship between time and distance. From this relationship, we set robot movement times. The movement time was set in the range of Human-Human cooperative task in each distance and direction. We conducted Human-Robot cooperative task and confirmed the effectiveness of the movement times.
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