When moving a piano or dancing tango with partner, how should I control my arm muscles to sense their movements and follow guide them smoothly? Here we observe physically connected pairs tracking target the modify muscle coactivation visual acuity partner's performance. They coactivate stiffen when performance is worse relax blurry feedback. Computational modeling shows that this adaptive sensing property cannot be explained by minimization of movement error hypothesis has previously...

Abstract Many tasks such as physical rehabilitation, vehicle co-piloting or surgical training, rely on assistance from a partner. While this may be provided by robotic interface, how to implement the necessary haptic support help improve performance without impeding learning is unclear. In paper, we study influence of interaction and shared tracking task. We compare in task with human partner, trajectory guidance traditionally used training robots, robot partner yielding human-like...

Objective: The last decades have seen a surge of robots for physical training and work assistance. How to best control these interfaces is unknown, although arguably the interaction should be similar human movement Methods: We compare behaviour assessment subjects tracking moving target with assistance from (i) trajectory guidance (as typically used in training), (ii) partner, (iii) reactive robot partner Takagi et al. Results: Trajectory was recognised as robotic, while felt human-like....

This letter introduces a sensory augmentation technique enabling contact robot to understand its human user's control in real-time and integrate their reference trajectory information into own feedback improve the tracking performance. The human's is formulated as controller with unknown gains desired trajectory. An unscented Kalman filter used estimate first then estimated augmented about system combined robot's measurement Simulations an implementation on robotic interface demonstrate that...

Haptic communication, the exchange of force and tactile information during dancing or moving a table together, has been shown to benefit performance human partners. Similarly, it could also be used improve robots working in contact with operator. As we move more robot integrated workspaces, how common network features such as delay jitter impact haptic communication need better understood. Here using human-like interactive robotic controller, that found indistinguishable by humans...

While the nervous system can coordinate muscles' activation to shape mechanical interaction with environment, it is unclear if and how arm's coactivation influences visuo-haptic perception motion planning. Here we show that voluntarily coactivate muscles improve quality of haptic percept. Subjects tracked a randomly moving visual target they were physically coupled through virtual elastic band, where stiffness coupling increased wrist coactivation. initially relied on vision alone track...

Humans activate muscles to shape the mechanical interaction with their environment, but can they harness this control mechanism best sense environment? We investigated how participants adapt muscle activation visual and haptic information when tracking a randomly moving target robotic interface. The results exhibit differentiated effect of these sensory modalities, where participants' cocontraction increases noise decreases noise, in apparent contradiction previous results. These be...

Abstract Many tasks such as physical rehabilitation, vehicle co-piloting or surgical training, rely on the assistance from a partner. While this may be provided by robotic interface, how to implement necessary haptic support help improve performance without impeding learning is unclear. In paper, we study influence of interaction and shared tracking task. We compare with human partner, trajectory guidance traditionally used in training robots, human-like partner resulted best during it...

This paper introduces human-robot sensory augmentation and illustrates it on a tracking task, where performance can be improved by the exchange of information between robot its human user. It was recently found that during interaction humans, partners use each other's to improve their own sensing, thus also learning. In this paper, we develop computational model unique ability, build novel control framework for interaction. The partner's is formulated as feedback with unknown gains desired...

When moving a piano or dancing tango with partner, how should I control my arm muscles to best feel their movements and follow guide them smoothly? Here we observe physically connected pairs tracking target the modify muscle coactivation visual acuity partners performance. They coactivate stiffen when performance is worse, relax blurry feedback. Computational modelling show that this adaptive sensing property cannot be explained by movement error minimization proposed in earlier models....

Abstract While the nervous system can coordinate muscles’ activation to shape mechanical interaction with environment, it is unclear if and how arm’s coactivation influences visuo-haptic perception motion planning. Here we show that voluntarily coactivate muscles improve quality of haptic percept. Subjects tracked a randomly moving visual target, which they were physically coupled by virtual elastic band whose stiffness increased wrist coactivation. initially relied on vision alone track but...