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 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.
Highlights
We investigated four different aspects of humanhuman dyad co-manipulation
Many of the insights can be implemented as general guidelines for developing physical Human-Robot Interaction (pHRI) controllers some of the insights we found could evaluate the similarity of humanrobot interaction and human-human interaction
We studied what we deem as nominal behavior for a humanhuman dyad and future research will need to focus on how human-human dyad behavior changes when external modifiers are added to the environment
Summary
Throughout this work, important preliminary principles are developed about haptic communication and how they relate to carrying an object of significant mass and length in six degrees of freedom (DoF). Robots are currently able to do extraordinary things from creating millions of cars in a manufacturing plant to performing delicate surgeries. In most of these tasks, humans are not allowed in the same space as the robots and the robots are pre-programmed or teleoperated. We propose that for pHRI to become ubiquitous, robots need to (1) move in ways that are predictable for human partners, (2) be able to communicate naturally with humans, and (3) be able to work with novice users. We seek to fulfill these needs by studying human-human interaction
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