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Trends in Haptic Communication of Human-Human Dyads: Toward Natural Human-Robot Co-manipulation

Authors
  • Jensen, Spencer W.
  • Salmon, John L.
  • Killpack, Marc D.
Type
Published Article
Journal
Frontiers in Neurorobotics
Publisher
Frontiers Media S.A.
Publication Date
Feb 17, 2021
Volume
15
Identifiers
DOI: 10.3389/fnbot.2021.626074
PMID: 33679365
PMCID: PMC7925623
Source
PubMed Central
Keywords
License
Unknown

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.

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