Kinesthetic interaction

Kyle B. Reed*, Michael Peshkin, Mitra J. Hartmann, J. Edward Colgate, James Patton

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Scopus citations

Abstract

In physical and occupational therapy two people interact through force and motion. Other common examples of this interaction include lifting and moving a bulky object, teaching manual skills, dancing, and handing off a baton or a drinking glass. These tasks involve kinesthetic interaction, a communication channel distinct from spoken language and gestures. Understanding kinesthetic interaction should be important in designing robots to assist with physical and occupational therapy. In this paper we describe our experiments on kinesthetic interaction between two people cooperating on a 1 degree of freedom task. We characterize the interaction forces between the two people, dividing them into a productive "net force" and an orthogonal "difference force." Our results suggest three effects (1) an emergent specialization of the two participants into different roles, (2) an oscillation of forces at about 8 Hz, and (3) a steady force in opposition to one another that could be analogous to co-contraction in an individual.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
Pages569-574
Number of pages6
DOIs
StatePublished - Dec 1 2005
Event2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005 - Chicago, IL, United States
Duration: Jun 28 2005Jul 1 2005

Publication series

NameProceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics
Volume2005

Other

Other2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
CountryUnited States
CityChicago, IL
Period6/28/057/1/05

ASJC Scopus subject areas

  • Engineering(all)

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    Reed, K. B., Peshkin, M., Hartmann, M. J., Edward Colgate, J., & Patton, J. (2005). Kinesthetic interaction. In Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005 (pp. 569-574). [1502027] (Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics; Vol. 2005). https://doi.org/10.1109/ICORR.2005.1502027