Interpersonal Synchronization of Body Motion and the Walk-Mate Walking Support Robot
Interpersonal Synchronization of Body Motion and the Walk-Mate Walking Support Robot
复制标题
DOI：
10.1109/tro.2009.2020350
复制
发表时间：
2009-06-01
影响因子：
7.8
通讯作者：
Miyake, Yoshihiro
中科院分区：
文献类型：
--
作者：
Miyake, Yoshihiro
每个人可能都经历过这样的现象，当他们一起走路时，他们的脚步不自觉地与他们的伴侣同步。这种身体运动的人际同步已经被广泛观察到，在社会心理学的背景下具有重要意义。然而，这种具体的合作机制仍然是模糊的，并没有得到实质性的开发作为一个工程应用。在这项研究中，通过假设“相互夹带”作为一种人际同步机制，我们建立了一个新的合作步行系统之间的步行人和步行机器人（代理作为一个虚拟机器人）。在这个系统中，有节奏的声音对应的时间的脚步声之间交换的基础上，我们以前的研究。结果表明，两种行走节奏在相互作用开始后相互适应，并且自动产生稳定的同步。这种全局夹带态具有动态稳定性，在行走期间波动很小。将该方法应用于帕金森病和偏瘫患者的步行支撑，对稳定患者的步行起到了很好的效果。这些结果表明，人与人之间的相互夹带的节奏运动步行支持的重要性，和新的人机交互技术，预计作为这个框架的扩展。
Everyone has probably experienced the phenomenon where their footsteps unconsciously synchronize with their partner while walking together. This interpersonal synchronization of body motion has been widely observed and is significant in the context of social psychology. However, the mechanism of this embodied cooperation still remains obscure and has not been substantially developed as an engineering application. In this study, by assuming "mutual entrainment" as an interpersonal synchronization mechanism, we establish a new cooperative walking system between a walking human and a walking robot (an agent as a virtual robot). In this system, rhythmic sounds corresponding to the timing of footsteps are exchanged between them on the basis of our previous studies. As a result, it was demonstrated that the two walking rhythms adapt mutually after the start of interaction, and stable synchronization is generated automatically. This global entrained state exhibits dynamic stability with small fluctuation in the walking period. Applying this method to walking support for Parkinson's disease and hemiplegia patients, its effectiveness in stabilizing the walking of the patient was shown. These results indicate the importance of interpersonal mutual entrainment of rhythmic motion for walking support, and new human-robot interaction technologies are expected as an extension of this framework.