Study of the Influence of a Force Bias on a Robotic Partner During Kinesthetic Communication
Etude de l'influence d'un biais dans la force d'une partenaire robotique durant une communication kinesthésique
Résumé
Numerous physical tasks necessitate collaboration among multiple individuals. While it's established that during comanipulation tasks, the exchange of forces between actors conveys information, the precise mechanisms of transmission and interpretation remain poorly elucidated. Various studies have underscored that when a robot exhibits human-like motions, human understanding of its intentions is enhanced. Nevertheless, discernible disparities emerge when comparing human-to-human and human-to-robot interactions across diverse metrics. The findings presented in this paper illustrate that when a robot consistently applies a light force field alongside its usual motions, the observed disparities in these metrics diminish significantly. Consequently, human interactions with this robot become more akin to those with other humans.
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