Related papers: Physically interacting humans regulate muscle coac…

Human and humanoid posture control models usually rely on single or multiple degrees of freedom inverted pendulum representation of upright stance associated with a feedback controller. In models typically focused on the action between…

In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…

The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy,…

In our daily life, we often encounter objects that are fragile and can be damaged by excessive grasping force, such as fruits. For these objects, it is paramount to grasp gently -- not using the maximum amount of force possible, but rather…

Understanding efficient fish locomotion offers insights for biomechanics, fluid dynamics, and engineering. Traditional studies often miss the link between neuromuscular control and whole-body movement. To explore energy transfer in…

The human gaze is an important cue to signal intention, attention, distraction, and the regions of interest in the immediate surroundings. Gaze tracking can transform how robots perceive, understand, and react to people, enabling new modes…

The main contribution of this paper is a novel sensory feedback control law for an octopus arm. The control law is inspired by, and helps integrate, several observations made by biologists. The proposed control law is distinct from prior…

When a human performs a given specific task, it has been known that the central nervous system controls modularized muscle group, which is called muscle synergy. For human-robot interface design problem, therefore, the muscle synergy can be…

Synchronization of activity among myocytes constituting vital organs, e.g., the heart, is crucial for physiological functions. Self-organized coordination in such heterogeneous ensemble of excitable and oscillatory cells is therefore of…

Biological agents have adopted the principle of attention to limit the rate of incoming information from the environment. One question that arises is if an artificial agent has access to only a limited view of its surroundings, how can it…

Human locomotion emerges from high-dimensional neuromuscular control, making predictive musculoskeletal simulation challenging. We present a physiology-informed reinforcement-learning framework that constrains control using muscle…

In order to be effective teammates, robots need to be able to understand high-level human behavior to recognize, anticipate, and adapt to human motion. We have designed a new approach to enable robots to perceive human group motion in…

As people coordinate in daily interactions, they engage in different patterns of behavior to achieve successful outcomes. This includes both synchrony - the temporal coordination of the same behaviors at the same time - and complementarity…

Movement in biology is often achieved with distributed control of coupled subcomponents, e.g. muscles and limbs. Coupling could range from weak and local, i.e. decentralized, to strong and global, i.e. centralized. We developed a model-free…

Humans move their hands and bodies together to communicate and solve tasks. Capturing and replicating such coordinated activity is critical for virtual characters that behave realistically. Surprisingly, most methods treat the 3D modeling…

In this paper we present a preliminary study for designing interactive systems that are sensible to human emotions based on the body movements. To do so, we first review the literature on the various approaches for defining and…

This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…

Collaborative manipulation is inherently multimodal, with haptic communication playing a central role. When performed by humans, it involves back-and-forth force exchanges between the participants through which they resolve possible…

Grasping an object is a matter of first moving a prehensile organ at some position in the world, and then managing the contact relationship between the prehensile organ and the object. Once the contact relationship has been established and…

Movement coordination in human ensembles has been studied little in the current literature. In the existing experimental works, situations where all subjects are connected with each other through direct visual and auditory coupling, and…