Temporal development of mutual constraint cycle in human-robot cooperation

We feel more inflexible regarding cooperative behavior with a machine than with a human. We suggest that the machine must have the ability to interact mutually with a human. We propose internal-control, which means control from the inside of mutual interference to overcome such a situation. Therefore we focus on mutual interference on walking motion, and suggest a walking-support robot, which interacts with a human through a mutual walking-rhythm and supports walking cooperatively. We have been proceeding with the development of the robot. However, until now we have dealt with the cooperative state between the human and the robot. Therefore we have not been able to measure the transition process to a cooperative state in doing internal-control through the human-robot system. Because, at the human side, we have measured only the timing of the foot. Accordingly, in this paper, to analyze such a transition process at the human side, we make a new system for measuring the human's arm. We analyze the transition process of the human-robot system, and clarify the effectiveness of internal-control through the temporal development at the transition process to cooperative behavior.