IEEE transactions on bio-medical engineering · 2025
Robot-Mediated Asymmetric Connection Between Humans Can Improve Performance Without Increasing Effort.
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Noccaro Alessia, Buscaglione Silvia, Eden Jonathan, Cheng Xiaoxiao, Di Stefano Nicola, Pino Giovanni Di, Burdet Etienne, Formica Domenico
Аннотация
UNLABELLED: Whether working together to move a table or supporting a child learning to ride a bike, physically connected individuals exchange haptic information to improve motor performance. However, this improvement occurs at the cost of additional effort for the more skilled partner.
OBJECTIVE: Here, we hypothesize that an asymmetric connection, consisting of a stiffer link to the less skilled partner and a more compliant link to the more skilled partner, could improve task performance without additional effort in collaborative tasks.
METHODS: Through computational modelling, we first tested this hypothesis on simulated human dyads tracking a common target. Then we experimentally validated the approach on a three degree-of-freedom tracking task using two commercial robots as individual interfaces.
RESULTS: The simulation and experimental results confirm that using an asymmetric connection stiffness can improve joint performance without requiring additional effort from either partner compared to their solo effort.
CONCLUSION: This suggests that the training of motor skills with a proficient partner may be enhanced through the use of robot-mediated asymmetric haptic connections.
SIGNIFICANCE: This approach may benefit joint tasks between individuals with clearly different motor abilities, such as a violin teacher demonstrating bowing techniques or a physical therapist assisting a patient during rehabilitation.
OBJECTIVE: Here, we hypothesize that an asymmetric connection, consisting of a stiffer link to the less skilled partner and a more compliant link to the more skilled partner, could improve task performance without additional effort in collaborative tasks.
METHODS: Through computational modelling, we first tested this hypothesis on simulated human dyads tracking a common target. Then we experimentally validated the approach on a three degree-of-freedom tracking task using two commercial robots as individual interfaces.
RESULTS: The simulation and experimental results confirm that using an asymmetric connection stiffness can improve joint performance without requiring additional effort from either partner compared to their solo effort.
CONCLUSION: This suggests that the training of motor skills with a proficient partner may be enhanced through the use of robot-mediated asymmetric haptic connections.
SIGNIFICANCE: This approach may benefit joint tasks between individuals with clearly different motor abilities, such as a violin teacher demonstrating bowing techniques or a physical therapist assisting a patient during rehabilitation.