Abstract
While motor interaction between a robot and a human, or between humans, has important implications for society as well as promising applications, little research has been devoted to its investigation. In particular, it is important to understand the different ways two agents can interact and generate suitable interactive behaviors. Towards this end, this paper introduces a framework for the description and implementation of interactive behaviors of two agents performing a joint motor task. A taxonomy of interactive behaviors is introduced, which can classify tasks and cost functions that represent the way each agent interacts. The role of an agent interacting during a motor task can be directly explained from the cost function this agent is minimizing and the task constraints. The novel framework is used to interpret and classify previous works on human-robot motor interaction. Its implementation power is demonstrated by simulating representative interactions of two humans. It also enables us to interpret and explain the role distribution and switching between roles when performing joint motor tasks.
Highlights
Joint action is a fundamental aspect of human life [1], as we collaborate or interact with peers in most actions
This paper concerns in particular joint actions with motor interaction, which stands either for ‘‘physical interaction’’ or for ‘‘haptic interaction’’ (as haptics concerns sensing while interaction requires a motor action)
Details about the dynamics of the modelled agents, the approach used to translate the cost functions defined in the Table of Fig. 3 into a unified cost function for optimal control, as well as the couplings used in the simulations, are given in the Materials and Methods
Summary
Joint action is a fundamental aspect of human life [1], as we collaborate or interact with peers in most actions. In the last 150 years, human motor control research has been devoted mostly to the study of walking [4] and free arm movements [5]. It is only in the last 40 years that robotic interfaces have been used to investigate how humans interact with the environment (e.g., [6,7,8]) and with each other (e.g., [9,10]) to perform a variety of tasks
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