Physical interactions between patients and therapists during rehabilitation have served as
motivation for the design of rehabilitation robots, yet we lack a fundamental understanding of …

During collaborative object manipulation, the interaction forces provide a communication
channel through which humans coordinate their actions. In order for the robots to engage in …

This paper describes a control method of a robot cooperating with a human. A task in which
a robot and a human move an object cooperatively is considered To develop the force …

Background Physical interactions between two people are ubiquitous in our daily lives, and
an integral part of many forms of rehabilitation. However, few studies have investigated …

The development of robots that can physically cooperate with humans has attained interest
in the last decades. Obviously, this effort requires a deep understanding of the intrinsic …

Humans can physically interact with other humans adeptly. Some overground interaction
tasks, such as guiding a partner across a room, occur without visual and verbal …

Many anticipated physical human-robot interaction (pHRI) applications in the near future are
overground tasks such as walking assistance. For investigating the biomechanics of human …

In this paper, we analyze and report on observable trends in human-human dyads
performing collaborative manipulation (co-manipulation) tasks with an extended object …

Often two people must work together physically on a common task, such as lifting and
positioning; a long board, or, in our model experimental system, turning a two-handled …

Human teams are able to easily perform collaborative manipulation tasks. However, for a
robot and human to simultaneously manipulate an extended object is a difficult task using …