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The results indicated that the adjusting role was related to high task performance by helping resiliently without disturbing the pen\u2019s smooth movement while avoiding great pen deviation. However, this experiment alone cannot explain details of the adjustment process of tension. To supplement these findings, this study formulated the three roles using equations of motion. The multi-agent simulation results showed that the adjusting role might use the degree of pen deviation reflected by the others\u2019 motor information, such as the operating procedures and forces, to change the tension and draw at least three sides. Although it is necessary to consider that we used the experimental task, our study contributes to the fundamental understanding of resilient adjustment in coordination by sharing heterogeneous roles as the first step.<\/jats:p>","DOI":"10.1007\/s00354-024-00277-y","type":"journal-article","created":{"date-parts":[[2024,8,23]],"date-time":"2024-08-23T21:15:48Z","timestamp":1724447748000},"page":"983-995","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Force-Based Modeling of Heterogeneous Roles in the Coordinated Behavior of a Triad"],"prefix":"10.1007","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3477-0594","authenticated-orcid":false,"given":"Jun","family":"Ichikawa","sequence":"first","affiliation":[]},{"given":"Keisuke","family":"Fujii","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,8,23]]},"reference":[{"key":"277_CR1","doi-asserted-by":"publisher","DOI":"10.1038\/srep23911","author":"K Fujii","year":"2016","unstructured":"Fujii, K., Yokoyama, K., Koyama, T., Rikukawa, A., Yamada, H., Yamamoto, Y.: Resilient help to switch and overlap hierarchical subsystems in a small human group. 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