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Authors: Ousmane Ndiaye 1 ; Ouriel Grynszpan 2 ; Bruno Berberian 3 and Ludovic Saint-Bauzel 1

Affiliations: 1 Institut des Systèmes Intelligents et de Robotique, Sorbonne University, Paris, France ; 2 Laboratoire Interdisciplinaire des Sciences du Numerique, Universite Paris-Saclay, Paris, France ; 3 Office National d’Etudes et Recherches Aerospatiales, Salon-de-Provence, France

Keyword(s): Physical Human-Human Interaction, Physical Human-Robot Interaction, Sense of Agency.

Abstract: 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 known. 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-Human and Human-Robot interactions across diverse metrics. Among all the usable metrics, this paper focuses on the sense of control over the physical exchange and the average values of interaction forces. We demonstrate here that the addition of a subtle force bias on the robot motions results in a diminishing of the observed disparities on these metrics, making human interactions with this robotic partner more akin to those with other humans.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Ndiaye, O., Grynszpan, O., Berberian, B. and Saint-Bauzel, L. (2024). Study of the Influence of a Force Bias on a Robotic Partner During Kinesthetic Communication. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7; ISSN 2184-2809, SciTePress, pages 400-407. DOI: 10.5220/0013013400003822

@conference{icinco24,
author={Ousmane Ndiaye and Ouriel Grynszpan and Bruno Berberian and Ludovic Saint{-}Bauzel},
title={Study of the Influence of a Force Bias on a Robotic Partner During Kinesthetic Communication},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={400-407},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013013400003822},
isbn={978-989-758-717-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Study of the Influence of a Force Bias on a Robotic Partner During Kinesthetic Communication
SN - 978-989-758-717-7
IS - 2184-2809
AU - Ndiaye, O.
AU - Grynszpan, O.
AU - Berberian, B.
AU - Saint-Bauzel, L.
PY - 2024
SP - 400
EP - 407
DO - 10.5220/0013013400003822
PB - SciTePress

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