RoBody Interaction A New Approach at Kinesthetic Human Robot Interaction

This paper presents a novel method for analyzing and designing kinesthetic interaction between humans and robots. The method is based on a combination of Social Embodied Interaction (SEI) analysis and Finite State Machine design. The method is presented along with its application to design and analyze an interactive training program for the robotic training device RoboTrainer-Light, with the objective of programming the robot so an optimal training pattern will emerge in the interaction, using only the exchange of force and motion to achieve this.