Interact with me: optimal human-humanoid physical interaction

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Unanticipated physical actions from the robot on humans (active pHRI, which stands for active physical human-robot interaction) may be inevitable with the deployment of robots in human-populated environments.However, it is still unclear how humans would perceive such actions and how the robot should execute them in a physically and psychologically safe manner.The objective of research in FY 2020 is to quantify the humans' physical and mental state during an active physical interaction with a robot, by means of a laboratory experiment.We hypothesize that the active robot actions could cause measurable alterations in users' data, which could be related to their perceptions and personalities. In the experiment, the user plays a visual game using the robot, which has a hidden task that results in active physical actions on the user. We collect data from physical and physiological sensors, and the perceptions and personalities via questionnaires and a semi-structured interview. Statistical analysis and clustering of the data collected from a total of 35 participants showed relationships between participants' physical and physiological data and their age, gender, perception, and personalities. The outcomes can be used to implement an active pHRI controller that can account for both the physical and the mental state of users.