Virtual Partner for a Haptic Interaction Task
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Interaction between humans and robots becomes more important in everyday life. In this work, a system is presented that creates a natural haptic human-robot interaction. A one degree of freedom dancing task is considered. The underlying model, which is based on a corresponding human-human interaction, replaces the male partner. The trajectories of the dancing steps are synthesized using a nonlinear system dynamics. A virtual fixture recreates the behavior of the interaction with a female partner. The implemented model is evaluated for different parameters based on objective measures.