Analysis of the co-emergence process on the human-human cooperation

In this study, we describe the analysis of the co-emergence process on the human-human cooperation. Especially, we focus on the cooperative walk realized by the synchronization of the two persons' footsteps, and do the analysis of the dynamics. As a results, it was clarified that there was a relation of the mutual constraint between the step motion of the leg and the swing motion of the arm, and that the cycles with the mutual constraint between the arm and the leg synchronized each other through the entrainment of the footsteps' rhythm. In addition, it became clear that the arm dynamics were influenced by the attention and the legs dynamics were not done. Thus, on the cooperative walk, it was suggested that the arm has different dynamics from the leg dynamics, and the mutual constraint process between these dynamics realized the co-emergence process on the cooperative walk.