人对刚性延伸物体协同操作的侧向运动特性分析
Analysis of Rigid Extended Object Co-Manipulation by Human Dyads: Lateral Movement Characterization
摘要：
在人与机器人的协同操作中，为了实现人与机器人之间舒适、协调的运动，需要基于人的行为来设计机器人控制器。在本文中，我们描述了一个实验之间的人，人的二人组和我们记录的力和运动数据的领导者，从二人组移动的平移和旋转。然后分析力/运动数据，以确定仅在横向平移期间发现的模式。对于扩展对象，横向平移和原地旋转是模糊的，但本文确定了一种方法来表征横向平移触发器，以供将来在人机交互中使用。本研究有四个主要结果。首先，相互作用力是明显的，是共同操纵的必要条件。第二，最小加加速度轨迹被发现在横向方向上仅用于横向运动。第三，横向运动的开始是由领导者独特的力量触发的。最后，有不同的指标，可以归因于确定哪些对移动最有效的横向方向。
英文摘要：
During co-manipulation involving humans and robots, it is necessary to base robot controllers on human behaviors to achieve comfortable and coordinated movement between the human-robot dyad. In this paper, we describe an experiment between human-human dyads and we record the force and motion data as the leader-follower dyads moved in translation and rotation. The force/motion data was then analyzed for patterns found during lateral translation only. For extended objects, lateral translation and in-place rotation are ambiguous, but this paper determines a way to characterize lateral translation triggers for future use in human-robot interaction. The study has 4 main results. First, interaction forces are apparent and necessary for co-manipulation. Second, minimum-jerk trajectories are found in the lateral direction only for lateral movement. Third, the beginning of a lateral movement is characterized by distinct force triggers by the leader. Last, there are different metrics that can be attributed to determine which dyads moved most effectively in the lateral direction.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
