PROJECT TITLE :

Simultaneous Perception of Forces and Motions Using Bimanual Interactions

ABSTRACT :

When teaching physical skills, consultants or robotic assistants commonly move a novice through a task. But, this guiding motion is only partially effective at portraying the total expertise as a result of the guided person is solely performing the task passively and the steering and task forces can become ambiguously intertwined. The interaction evaluated during this paper separates the task and steering forces by guiding one hand thus the user can actively recreate the motion with their different hand that receives task-connected forces. This method relies on the power of humans to simply move their hands through similar paths, like drawing circles, compared to the difficulty of simultaneously drawing a square with one hand and a circle with the other. Several experiments were initial performed to characterize the reference frames, interaction stiffnesses, and trajectories that humans will recreate. Visual Symmetry and Joint-House Symmetry proved to be easier than Purpose Mirror Symmetry and participants' recreated motions usually lagged by approximately fifty-one hundred ms. Based on these results, participants used bimanual guidance to identify the orientation of a arduous rod embedded in an exceedingly soft material. The results show that participants might identify the orientation of the rod equally well when operating independently compared to being bimanually guided through a desired motion.