{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,14]],"date-time":"2026-03-14T18:31:02Z","timestamp":1773513062900,"version":"3.50.1"},"reference-count":47,"publisher":"Association for Computing Machinery (ACM)","issue":"2","license":[{"start":{"date-parts":[[2022,2,8]],"date-time":"2022-02-08T00:00:00Z","timestamp":1644278400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-sa\/4.0\/"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2022,6,30]]},"abstract":"<jats:p>This article presents the results of an experiment on physical Human-Human Interaction (pHHI), where human dyads cooperate on a one-dimensional comanipulative task in a novel lightweight teleoperation setup. The results of this experiment show that humans are able to handle asymmetrical information about the task and solve conflicts using only the kinesthetic channel. Data from the pHHI experiment is used to design a virtual partner that can perform the task alongside a human. The virtual partner behavior is based on the observation that initiative is highly correlated to decision-making in our pHHI negotiation scenario. The virtual agent is then evaluated in a physical Human-Robot Interaction (pHRI) experiment. The results of the second experiment show that the virtual partner is able to perform the task without compromising the performances of the dyad and that a similar role distribution is observed in human-human and human-robot dyads. Moreover, the knowledge of the partner\u2019s nature does not seem to influence the performances. The results obtained with the virtual partner are encouraging and could be used to design kinesthetic negotiation algorithms in pHRI settings.<\/jats:p>\n          <jats:p>The main contributions of this article are: (1) supporting evidence of the possibility for humans to use the kinesthetic channel as mean of negotiation during physical Human-Human Interaction in the lightest known impedance negotiation tasks (with no virtual mass involved), (2) highlighting of the correlation between initiative and dyadic decision making, (3) design of a simple yet efficient virtual partner algorithm capable of realistic physical Human-Robot Interaction in the one-dimension tracking task used in the experimental setup. This design combines minimum jerk trajectory, switching role ability, decision criteria, and statistical parameters that are detailed in this article.<\/jats:p>","DOI":"10.1145\/3485753","type":"journal-article","created":{"date-parts":[[2022,2,8]],"date-time":"2022-02-08T13:04:39Z","timestamp":1644325479000},"page":"1-23","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["Study of Kinesthetic Negotiation Ability in Lightweight Comanipulative Decision-making Tasks: Design and Study of a Virtual Partner based on Human-human Interaction Observation"],"prefix":"10.1145","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1703-3111","authenticated-orcid":false,"given":"Lucas","family":"Roche","sequence":"first","affiliation":[{"name":"Institut des Syst\u00e8mes Intelligents et de Robotique (ISIR) - UMR7222 Sorbonne Universit\u00e9, CNRS, INSERM (U1150), Paris, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4372-4917","authenticated-orcid":false,"given":"Ludovic","family":"Saint-Bauzel","sequence":"additional","affiliation":[{"name":"Institut des Syst\u00e8mes Intelligents et de Robotique (ISIR) - UMR7222 Sorbonne Universit\u00e9, CNRS, INSERM (U1150), Paris, France"}]}],"member":"320","published-online":{"date-parts":[[2022,2,8]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.954751"},{"key":"e_1_3_2_3_2","article-title":"An atlas of physical human-robot interaction","author":"Santis A. De","year":"2007","unstructured":"A. De Santis, B. Siliciano, A. De Luca, and A. Bicchi. 2007. An atlas of physical human-robot interaction. Mechan. Mach. Theor. 43 (2007), 253\u2013270.","journal-title":"Mechan. Mach. Theor."},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1561\/1100000005"},{"key":"e_1_3_2_5_2","article-title":"Slaves no longer: Review on role assignment for human-robot joint motor action","author":"Jarasse N.","year":"2013","unstructured":"N. Jarasse, V. Sanguinetti, and E. Burdet. 2013. Slaves no longer: Review on role assignment for human-robot joint motor action. Adapt. Behav. (2013).","journal-title":"Adapt. Behav."},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10111-011-0192-5"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.5555\/3116703.3116708"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2008.13"},{"key":"e_1_3_2_9_2","article-title":"A new control architecture for physical human-robot interaction based on haptic communication","author":"Aydin Y.","year":"2014","unstructured":"Y. Aydin, N. Arghavani, and C. Basdogan. 2014. A new control architecture for physical human-robot interaction based on haptic communication. In Proceedings of the ACM\/IEEE International Conference on Human-robot Interaction.","journal-title":"Proceedings of the ACM\/IEEE International Conference on Human-robot Interaction"},{"key":"e_1_3_2_10_2","article-title":"Human-robot cooperative manipulation with motion estimation","author":"Maeda Y.","year":"2001","unstructured":"Y. Maeda, T. Hara, and T. Arai. 2001. Human-robot cooperative manipulation with motion estimation. In Proceedings of the International Conference on Intelligent Robots and Systems 4 (2001), 2240\u20132245.","journal-title":"Proceedings of the International Conference on Intelligent Robots and Systems"},{"key":"e_1_3_2_11_2","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Thobbi A.","year":"2011","unstructured":"A. Thobbi, Y. Gu, and W. Sheng. 2011. Using human motion estimation for human-robot cooperative manipulation. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, vol. 1. 2873\u20132878."},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2009.5379513"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2009.4810879"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912455366"},{"key":"e_1_3_2_15_2","article-title":"Haptic negotiation and role exchange for collaboration in virtual environments","author":"Oguz S. O.","year":"2010","unstructured":"S. O. Oguz, A. Kucukyilmaz, T. M. Sezgin, and C. Basdogan. 2010. Haptic negotiation and role exchange for collaboration in virtual environments. In Proceedings of the IEEE Haptics Symposium.","journal-title":"Proceedings of the IEEE Haptics Symposium"},{"key":"e_1_3_2_16_2","article-title":"Intention recognition for dynamic role exchange in haptic collaboration","author":"Kucukyilmaz A.","year":"2014","unstructured":"A. Kucukyilmaz, T. M. Sezgin, and C. Basdogan. 2014. Intention recognition for dynamic role exchange in haptic collaboration. IEEE Trans. Hapt. (2014). DOI:http:\/\/dx.doi.org\/10.1109\/ToH.2012.21","journal-title":"IEEE Trans. Hapt."},{"key":"e_1_3_2_17_2","article-title":"Recognition of haptic interaction patterns in dyadic joint object manipulation","author":"Madan C. E.","year":"2014","unstructured":"C. E. Madan, A. Kucukyilmaz, T. M. Sezgin, and C. Basdogan. 2014. Recognition of haptic interaction patterns in dyadic joint object manipulation. IEEE Trans. Hapt. 8, 1 (2014).","journal-title":"IEEE Trans. Hapt. 8, 1"},{"key":"e_1_3_2_18_2","article-title":"Continuous role adaptation for human-robot shared control","author":"Li Yanan","year":"2015","unstructured":"Yanan Li, Keng Peng Tee, Wei Liang Chan, Rui Yan, Yuanwei Chua, and Dilip Kumar Limbu. 2015. Continuous role adaptation for human-robot shared control. IEEE Trans. Robot. 31 (2015), 672\u2013681.","journal-title":"IEEE Trans. Robot."},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2009.4810846"},{"key":"e_1_3_2_20_2","first-page":"2109","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Reed K. B.","year":"2006","unstructured":"K. B. Reed, M. Peshkin, M. J. Hartmann, J. Patton, P. M. Vishton, and M. Grabowecky. 2006. Haptic cooperation between people, and between people and machines. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. 2109\u20132114."},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1177\/154193120104502712"},{"key":"e_1_3_2_22_2","article-title":"Two is better than one: Physical interactions improve motor performance in humans","author":"Ganesh G.","year":"2014","unstructured":"G. Ganesh, A. Tagaki, T. Yoshioka, M. Kawato, and E. Burdet. 2014. Two is better than one: Physical interactions improve motor performance in humans. Nat, Sci. Rep. 4, 3824 (2014).","journal-title":"Nat, Sci. Rep. 4, 3824"},{"key":"e_1_3_2_23_2","article-title":"Human-human physical interaction in the joint control of an underactuated virtual object","author":"Santis D. De","year":"2014","unstructured":"D. De Santis, J. Znzeri, L. Masia, V. Squeri, and P. Morasso. 2014. Human-human physical interaction in the joint control of an underactuated virtual object. Conf. Proc. IEEE Eng. Med. Biol. Soc. (2014), 4407\u20134410.","journal-title":"Conf. Proc. IEEE Eng. Med. Biol. Soc."},{"key":"e_1_3_2_24_2","article-title":"Human-human haptic collaboration in cyclical Fitt\u2019s tasks","author":"Gentry S.","year":"2005","unstructured":"S. Gentry and E. Feron. 2005. Human-human haptic collaboration in cyclical Fitt\u2019s tasks. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. 3402\u20133407.","journal-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"e_1_3_2_25_2","article-title":"Two heads are better than one: Both complementary and synchronous strategies facilitate joint action","author":"Matsumoto J.","year":"2012","unstructured":"J. Matsumoto and N. Inui. 2012. Two heads are better than one: Both complementary and synchronous strategies facilitate joint action. J. Neurophysiol. 109 (2012), 1307\u20131314.","journal-title":"J. Neurophysiol. 109"},{"key":"e_1_3_2_26_2","first-page":"3051","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Ueha R.","year":"2009","unstructured":"R. Ueha, H. T. T. Pham, H. Hirai, and F. Miyazaki. 2009. A simple control design for human-robot coordination based on the knowledge of dynamical role division. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. 3051\u20133056. DOI:http:\/\/dx.doi.org\/10.1109\/IROS.2009.5354109"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2016.7523809"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1145\/365058.365082"},{"key":"e_1_3_2_29_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.intcom.2011.05.002"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2012.16"},{"key":"e_1_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.5555\/1466603.1466606"},{"key":"e_1_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2012.2"},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-04076-4_1"},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-017-0217-2"},{"key":"e_1_3_2_35_2","volume-title":"J. Experim. Psychol.: Hum. Percept. Perform","author":"Wel R. P. Van der","year":"2010","unstructured":"R. P. Van der Wel, G. Knoblitch, and N. Sebanz. 2010. Let the force be with us: Dyads exploit haptic coupling for coordination. J. Experim. Psychol.: Hum. Percept. Perform 37 (2010)."},{"key":"e_1_3_2_36_2","article-title":"Experimental investigation of human-robot cooperative carrying","author":"Parker C. A. C.","year":"2011","unstructured":"C. A. C. Parker and E. A. Croft. 2011. Experimental investigation of human-robot cooperative carrying. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. 3361\u20133366.","journal-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"e_1_3_2_37_2","article-title":"Experimental analysis of dominance in haptic collaboration","author":"Feth D.","year":"2009","unstructured":"D. Feth, R. Groten, H. Goshy, A. Peer, D. A. Kenny, and M. Buss. 2009. Experimental analysis of dominance in haptic collaboration. In Proceedings of the 18th IEEE International Symposium on Robot and Human Interactive Communication. 723\u2013729.","journal-title":"Proceedings of the 18th IEEE International Symposium on Robot and Human Interactive Communication"},{"key":"e_1_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41562-017-0054"},{"key":"e_1_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461005"},{"key":"e_1_3_2_40_2","volume-title":"ERTS","author":"Roche Lucas","year":"2018","unstructured":"Lucas Roche and Ludovic Saint-Bauzel. 2018. The SEMAPHORO haptic interface: A real-time low-cost open-source implementation for dyadic teleoperation. In ERTS."},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0167314"},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.05-07-01688.1985"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.258054"},{"key":"e_1_3_2_44_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.326566"},{"key":"e_1_3_2_45_2","article-title":"Achieving transparency for teleoperator systems under position and rate control","author":"Zhu M.","year":"1995","unstructured":"M. Zhu and S. E. Salcudean. 1995. Achieving transparency for teleoperator systems under position and rate control. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, vol. 2. 7\u201312.","journal-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"e_1_3_2_46_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2017.2700839"},{"key":"e_1_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968015"},{"key":"e_1_3_2_48_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759415"}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3485753","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3485753","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T20:12:11Z","timestamp":1750191131000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3485753"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,2,8]]},"references-count":47,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2022,6,30]]}},"alternative-id":["10.1145\/3485753"],"URL":"https:\/\/doi.org\/10.1145\/3485753","relation":{},"ISSN":["2573-9522","2573-9522"],"issn-type":[{"value":"2573-9522","type":"print"},{"value":"2573-9522","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,2,8]]},"assertion":[{"value":"2018-08-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-08-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-02-08","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}