Implementation of haptic communication in comanipulative tasks: A statistical state machine model

Abstract

This paper presents an experimental evaluation of physical human-human interaction in lightweight condition using a one degree of freedom robotized setup. It explores possible origins of Physical Human-Human communication, more precisely, the hypothesis of a time based communication. To explore if the communication is correlated to time a, statistical state machine model based on physical Human-Human interaction is proposed. The model is tested with 14 subjects and presents results that are close to human-human performances.