Haptic Human-Robot Collaboration: How to Learn from Human Dyads

Abstract

The goal of this dissertation is the development of design guidelines for robots, which collaborate with humans in haptic tasks. Based on studies of two collaborating humans, it is possible to gain insights into how a robot should behave to enable intuitive interaction. Hence, experiments, which allow an investigation of human dyad behavior in haptic collaboration, are designed within a conceptual framework. The corresponding results show that intention negotiation via the haptic channel is possible. Furthermore, guidelines on dominance distribution between humans and robots are derived.