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A Framework to Describe, Analyze and Generate Interactive Motor Behaviors

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  • Nathanaël Jarrassé
  • Themistoklis Charalambous
  • Etienne Burdet

Abstract

While motor interaction between a robot and a human, or between humans, has important implications for society as well as promising applications, little research has been devoted to its investigation. In particular, it is important to understand the different ways two agents can interact and generate suitable interactive behaviors. Towards this end, this paper introduces a framework for the description and implementation of interactive behaviors of two agents performing a joint motor task. A taxonomy of interactive behaviors is introduced, which can classify tasks and cost functions that represent the way each agent interacts. The role of an agent interacting during a motor task can be directly explained from the cost function this agent is minimizing and the task constraints. The novel framework is used to interpret and classify previous works on human-robot motor interaction. Its implementation power is demonstrated by simulating representative interactions of two humans. It also enables us to interpret and explain the role distribution and switching between roles when performing joint motor tasks.

Suggested Citation

  • Nathanaël Jarrassé & Themistoklis Charalambous & Etienne Burdet, 2012. "A Framework to Describe, Analyze and Generate Interactive Motor Behaviors," PLOS ONE, Public Library of Science, vol. 7(11), pages 1-13, November.
    • Handle: RePEc:plo:pone00:0049945
    DOI: 10.1371/journal.pone.0049945
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    References listed on IDEAS

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    1. Etienne Burdet & Rieko Osu & David W. Franklin & Theodore E. Milner & Mitsuo Kawato, 2001. "The central nervous system stabilizes unstable dynamics by learning optimal impedance," Nature, Nature, vol. 414(6862), pages 446-449, November.
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    Cited by:

    1. Atsushi Takagi & Niek Beckers & Etienne Burdet, 2016. "Motion Plan Changes Predictably in Dyadic Reaching," PLOS ONE, Public Library of Science, vol. 11(12), pages 1-15, December.
    2. Rocío Llamas-Ramos & Juan Luis Sánchez-González & Inés Llamas-Ramos, 2022. "Robotic Systems for the Physiotherapy Treatment of Children with Cerebral Palsy: A Systematic Review," IJERPH, MDPI, vol. 19(9), pages 1-12, April.
    3. Jonathan Eden & Mario Bräcklein & Jaime Ibáñez & Deren Yusuf Barsakcioglu & Giovanni Di Pino & Dario Farina & Etienne Burdet & Carsten Mehring, 2022. "Principles of human movement augmentation and the challenges in making it a reality," Nature Communications, Nature, vol. 13(1), pages 1-13, December.

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