Research > Cooperation work between human and robot
The human-robot cooperation would be a key issue as scopes of humans
and robots working together are increasing in advanced-technological
societies. We aim to design and control human-like robots in a manner
that they can flexibly mimic human motions, especially in cooperation
work. Particularly, in this crank-rotation task, we intend to
investigate human’s strategies in group work, and then apply the
results into the control of a muscle-like arm robot.
- Human-human experiment:
Experiments between human subjects give an interesting result that there
is a “dynamical role division” between two participants in a
group. When two persons worked together, after several trials, one
mainly pushed the crank while the other pulled along. Experimental data
show that when this occurred, subjects could complete the task faster,
thus, suggesting a high contribution of the role sharing in improving
the group-work performance.
Our goal is to make the robot properly produce forces according to a
human partner’s so that it can cooperate with human as a real person
to contribute to the group work.
To do that, we investigated human arm’s muscle activity and its relation with hand force. We found that there is a high correlation between hand force (divided into tangential force and radial force) and muscle activity (represented by the first two/three principal components of muscle ratio obtained from %MVC of EMG of agonist-antagonist muscle pairs.) This idea is used to develop our control method, the “synergy control method”.
- Human-robot experiment:
Synergy control method
is applied to the control of our arm robot. In the first stage, we can make it perform reaching/rotating movements.