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A study of haptic communication in comanipulative decision-making tasks : from human to virtual partner

Lucas Roche 1, 2 Ludovic Saint-Bauzel 1, 2
2 AGATHE - Assistance aux Gestes et Applications THErapeutiques
ISIR - Institut des Systèmes Intelligents et de Robotique, INSERM - Institut National de la Santé et de la Recherche Médicale : U1150
Abstract : This paper presents the results of an experiment on physical Human-Human Interaction (pHHI), where human dyads cooperate on a one dimensional comanipulative task. The results of this experiment confirm the existence of an haptic communication between humans during low-impedance tasks. Data from the pHHI experiment is used to design a virtual partner which can collaborate with humans on the same task. The virtual partner behavior is based on the observation that initiative is highly correlated to decision-making in pHHI. The virtual agent is then evaluated in a physical Human-Robot Interaction (pHRI) experiment. The results of the second experiment show that the virtual partner is able to perform the task without compromising the performances of the dyad, and that a similar role distribution is observed in human-human and human-robot dyads. Moreover, the knowledge of the partner's nature does not seem to influence the performances. The results obtained with the virtual partner are encouraging and could be used to design efficient haptic communication protocol in pHRI settings.
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https://hal.archives-ouvertes.fr/hal-01953077
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Submitted on : Wednesday, December 12, 2018 - 4:00:45 PM
Last modification on : Saturday, December 4, 2021 - 3:59:39 AM
Long-term archiving on: : Wednesday, March 13, 2019 - 2:58:20 PM

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  • HAL Id : hal-01953077, version 1

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Lucas Roche, Ludovic Saint-Bauzel. A study of haptic communication in comanipulative decision-making tasks : from human to virtual partner. 2018. ⟨hal-01953077⟩

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