Abstract
Effective rhythm expression (ERE) from a robot to a human performing a multi-modal physical-cooperation (MMPC) task was accomplished. During MMPC, the participant and the robot can exchange various rhythms between themselves. To accomplish ERE, it is important to appropriately select the modalities in which the robot expresses its desired rhythm. Accordingly, a hypothesis that selecting the visual rhythm for RE prevents MMPC was tested and confirmed. This hypothesis was preliminarily confirmed in regard to MMPC between two humans. Moreover, to confirm the hypothesis in regard to human–robot cooperation, an experimental system (including a rope-turning robot) was developed. This experimental system allowed experimenters to evaluate the synchronization during MMPC between a human and a robot by measuring the norm of angular velocities. The results of several experiments (namely, a comparison of norms), in which several combinations of visual and auditory rhythmic stimuli were presented to the subjects, strongly supported the hypothesis.
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