A behavioural control strategy of human-human interaction in an object transfer task

This paper presents an outline of human-human interaction (HHI) to establish a framework to understand how a behaviour based approach can be developed in the design of a human-robot interaction (HRI) strategy. To approach the conceptual design guidelines for a HRI control strategy, the human dynamic model of human behaviour during performing an object transfer task without any types of communication has been strategically analysed. The extended crossover model proposed by McRuer [1] has been applied to identify the human arm characteristic models under various conditions when executing cooperative tasks. A set of compliant-object-handover tasks have been designed and conveyed (based on Box-Behnken test design[1]), along with the influence variables affecting the human forces, consisting of mass, friction and target displacement. According to the results, the McRuer crossover models were appropriately estimated and reported to be in good matching with the actual experimental data. Additionally, it can be found that a loop gain (KH) is inversely proportional to the object distance moved and is associated with a faster response. The best-fit percentages of human force profiles are almost 100%; therefore, the proposed models can be used to present the human arm characteristics effectively.