Physically interacting individuals estimate the partner's goal to enhance their movements
Physically interacting individuals estimate the partner's goal to enhance their movements
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DOI：
10.1038/s41562-017-0054
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发表时间：
2017-03-01
影响因子：
29.9
通讯作者：
Burdet, Etienne
中科院分区：
文献类型：
--
作者：
Takagi, Atsushi;Ganesh, Gowrishankar;Burdet, Etienne
从父母帮助引导孩子迈出第一步，到治疗师支持病人，触觉互动带来的身体帮助是提高运动能力的基本方式。然而，在触觉交互过程中，伙伴之间交换了哪些运动信息，以及这些信息如何用于协调和帮助他人，目前尚不清楚(1)。在这里，我们提出了一个模型，在这个模型中，触觉和本体感觉提供的触觉信息(2)使相互作用的个体能够估计伴侣的运动目标，并利用它来提高自己的运动表现。我们使用经验物理交互任务(3)来证明我们的模型可以比文献中现有的交互模型更好地解释人类行为（4-8）。此外，我们通过实验验证了我们的模型，将其体现在一个机器人伙伴身上，并检查它是否能像与人类伙伴互动一样，在人类个体的运动表现和学习方面产生同样的改善。这些结果表明，协作机器人有望提供类似人类的帮助，并表明运动目标交换是物理帮助的关键。
From a parent helping to guide their child during their first steps, to a therapist supporting a patient, physical assistance enabled by haptic interaction is a fundamental modus for improving motor abilities. However, what movement information is exchanged between partners during haptic interaction, and how this information is used to coordinate and assist others, remains unclear(1). Here, we propose a model in which haptic information, provided by touch and proprioception(2), enables interacting individuals to estimate the partner's movement goal and use it to improve their own motor performance. We use an empirical physical interaction task(3) to show that our model can explain human behaviours better than existing models of interaction in literature(4-8). Furthermore, we experimentally verify our model by embodying it in a robot partner and checking that it induces the same improvements in motor performance and learning in a human individual as interacting with a human partner. These results promise collaborative robots that provide human-like assistance, and suggest that movement goal exchange is the key to physical assistance.