Hi5: A versatile dual-wrist device to study human-human interaction and bimanual control

摘要

Our goal is to investigate the mechanisms of human-human interaction in collaborative and competitive tasks. In this regard, previous groups have suggested simplified motor tasks involving dual robotic interfaces. However, these interfaces involved arm movements with a high degree of kinematic and muscle redundancy. This paper introduces a simple, yet versatile dual-wrist robotic interface, Hi5, that allows us to investigate the motor processes behind human-human and bimanual interaction control, and avoid confounds inherent of arm movements. This paper presents the design of Hi5 and the implemented safety measures. Performance tests then demonstrate its capacity to yield high dynamics, and exhibit low values for inertia and friction. Preliminary experiments show how Hi5 allows us to analyze the specific kinematic, torque and muscle activation patterns of each partner and disambiguate their roles in force and impedance control.