Engineering Commons^™

Guiding A Human Follower With Interaction Forces: Implications On Physical Human-Robot Interaction, George L. Holmes, Keyri Moreno Bonnett, Amy Costa, Devin Michael Burns, Yun Seong Song

Psychological Science Faculty Research & Creative Works

This work challenges the common assumption in physical human-robot interaction (pHRI) that the movement intention of a human user can be simply modeled with dynamic equations relating forces to movements, regardless of the user. Studies in physical human-human interaction (pHHI) suggest that interaction forces carry sophisticated information that reveals motor skills and roles in the partnership and even promotes adaptation and motor learning. In this view, simple force-displacement equations often used in pHRI studies may not be sufficient. To test this, this work measured and analyzed the interaction forces (F) between two humans as the leader guided the blindfolded follower …