{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,27]],"date-time":"2026-02-27T06:22:09Z","timestamp":1772173329532,"version":"3.50.1"},"update-to":[{"DOI":"10.1371\/journal.pcbi.1012037","type":"new_version","label":"New version","source":"publisher","updated":{"date-parts":[[2024,11,18]],"date-time":"2024-11-18T00:00:00Z","timestamp":1731888000000}}],"reference-count":31,"publisher":"Public Library of Science (PLoS)","issue":"11","license":[{"start":{"date-parts":[[2024,11,6]],"date-time":"2024-11-06T00:00:00Z","timestamp":1730851200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100010663","name":"H2020 European Research Council","doi-asserted-by":"publisher","award":["ICT-871803"],"award-info":[{"award-number":["ICT-871803"]}],"id":[{"id":"10.13039\/100010663","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EP\/R026092\/1"],"award-info":[{"award-number":["EP\/R026092\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["www.ploscompbiol.org"],"crossmark-restriction":false},"short-container-title":["PLoS Comput Biol"],"abstract":"<jats:p>Physically connected humans have been shown to exploit the exchange of haptic forces and tactile information to improve their performance in joint action tasks. As human interactions are increasingly mediated through robots and networks it is important to understand the impact that network features such as lag and noise may have on human behaviour. In this paper, we investigated interaction with a human-like robot controller that provides similar haptic communication behaviour as human-human interaction and examined the influence and compensation mechanisms for delay and noise on haptic communication. The results of our experiments show that participants can perceive a difference between noise and delay, and make use of compensation mechanisms to preserve performance in both cases. However, while noise is compensated for by increasing co-contraction, delay compensation could not be explained by this strategy. Instead, computational modelling suggested that a distinct mechanism is used to compensate for the delay and yield an efficient haptic communication.<\/jats:p>","DOI":"10.1371\/journal.pcbi.1012037","type":"journal-article","created":{"date-parts":[[2024,11,6]],"date-time":"2024-11-06T13:31:08Z","timestamp":1730899868000},"page":"e1012037","update-policy":"https:\/\/doi.org\/10.1371\/journal.pcbi.corrections_policy","source":"Crossref","is-referenced-by-count":0,"title":["During haptic communication, the central nervous system compensates distinctly for delay and noise"],"prefix":"10.1371","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0733-265X","authenticated-orcid":true,"given":"Jonathan","family":"Eden","sequence":"first","affiliation":[]},{"given":"Ekaterina","family":"Ivanova","sequence":"additional","affiliation":[]},{"given":"Etienne","family":"Burdet","sequence":"additional","affiliation":[]}],"member":"340","published-online":{"date-parts":[[2024,11,6]]},"reference":[{"key":"pcbi.1012037.ref001","doi-asserted-by":"crossref","first-page":"3824","DOI":"10.1038\/srep03824","article-title":"Two is better than one: Physical interactions improve motor performance in humans","volume":"4","author":"G Ganesh","year":"2014","journal-title":"Scientific Reports"},{"issue":"1","key":"pcbi.1012037.ref002","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1038\/s41598-020-76706-x","article-title":"Haptic human\u2013human interaction does not improve individual visuomotor adaptation","volume":"10","author":"N Beckers","year":"2020","journal-title":"Scientific Reports"},{"key":"pcbi.1012037.ref003","doi-asserted-by":"crossref","first-page":"21","DOI":"10.3389\/fnbot.2017.00021","article-title":"Communication and inference of intended movement direction during human\u2013human physical interaction","volume":"11","author":"K Mojtahedi","year":"2017","journal-title":"Frontiers in Neurorobotics"},{"issue":"3","key":"pcbi.1012037.ref004","doi-asserted-by":"crossref","first-page":"0054","DOI":"10.1038\/s41562-017-0054","article-title":"Physically interacting individuals estimate the partner\u2019s goal to enhance their movements","volume":"1","author":"A Takagi","year":"2017","journal-title":"Nature Human Behaviour"},{"issue":"3","key":"pcbi.1012037.ref005","doi-asserted-by":"crossref","first-page":"e1005971","DOI":"10.1371\/journal.pcbi.1005971","article-title":"Haptic communication between humans is tuned by the hard or soft mechanics of interaction","volume":"14","author":"A Takagi","year":"2018","journal-title":"PLoS Computational Biology"},{"issue":"1","key":"pcbi.1012037.ref006","doi-asserted-by":"crossref","first-page":"15821","DOI":"10.1038\/s41598-022-18617-7","article-title":"Interaction with a reactive partner improves learning in contrast to passive guidance","volume":"12","author":"E Ivanova","year":"2022","journal-title":"Scientific Reports"},{"key":"pcbi.1012037.ref007","doi-asserted-by":"crossref","unstructured":"Batson JP, Kato Y, Shuster K, Patton JL, Reed KB, Tsuji T, et al. Haptic coupling in dyads improves motor learning in a simple force field. In: International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC); 2020. p. 4795\u20134798.","DOI":"10.1109\/EMBC44109.2020.9176261"},{"issue":"1","key":"pcbi.1012037.ref008","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1038\/ncomms11543","article-title":"Correlation detection as a general mechanism for multisensory integration","volume":"7","author":"CV Parise","year":"2016","journal-title":"Nature Communications"},{"issue":"5","key":"pcbi.1012037.ref009","doi-asserted-by":"crossref","first-page":"1076","DOI":"10.1016\/j.neuron.2019.03.043","article-title":"Causal inference in the multisensory brain","volume":"102","author":"Y Cao","year":"2019","journal-title":"Neuron"},{"issue":"3","key":"pcbi.1012037.ref010","doi-asserted-by":"crossref","first-page":"499","DOI":"10.1109\/TRA.2004.825271","article-title":"Ground-space bilateral teleoperation of ETS-VII robot arm by direct bilateral coupling under 7-s time delay condition","volume":"20","author":"T Imaida","year":"2004","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"2","key":"pcbi.1012037.ref011","doi-asserted-by":"crossref","first-page":"562","DOI":"10.1109\/JSAC.2020.3020600","article-title":"Remote monitoring of physical rehabilitation of stroke patients using IoT and virtual reality","volume":"39","author":"O Postolache","year":"2020","journal-title":"IEEE Journal on Selected Areas in Communications"},{"issue":"2","key":"pcbi.1012037.ref012","doi-asserted-by":"crossref","first-page":"451","DOI":"10.1109\/TOH.2022.3156122","article-title":"Time delay affects thermal discrimination","volume":"15","author":"M Hojatmadani","year":"2022","journal-title":"IEEE Transactions on Haptics"},{"key":"pcbi.1012037.ref013","doi-asserted-by":"crossref","unstructured":"Pressman A, Karniel A, Mussa-Ivaldi FA. Perception of delayed stiffness. In: IEEE\/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics.; 2006. p. 905\u2013910.","DOI":"10.1109\/BIOROB.2006.1639206"},{"issue":"6","key":"pcbi.1012037.ref014","doi-asserted-by":"crossref","first-page":"3017","DOI":"10.1152\/jn.00939.2009","article-title":"Proximodistal gradient in the perception of delayed stiffness","volume":"103","author":"I Nisky","year":"2010","journal-title":"Journal of Neurophysiology"},{"issue":"2","key":"pcbi.1012037.ref015","doi-asserted-by":"crossref","first-page":"322","DOI":"10.1109\/TOH.2021.3079227","article-title":"Short time delay does not hinder haptic communication benefits","volume":"14","author":"E Ivanova","year":"2021","journal-title":"IEEE Transactions on Haptics"},{"issue":"9","key":"pcbi.1012037.ref016","doi-asserted-by":"crossref","first-page":"3076","DOI":"10.1152\/jn.00229.2014","article-title":"The effect of force feedback delay on stiffness perception and grip force modulation during tool-mediated interaction with elastic force fields","volume":"113","author":"R Leib","year":"2015","journal-title":"Journal of Neurophysiology"},{"issue":"6","key":"pcbi.1012037.ref017","doi-asserted-by":"crossref","DOI":"10.1523\/ENEURO.0179-17.2017","article-title":"State-based delay representation and its transfer from a game of pong to reaching and tracking","volume":"4","author":"G Avraham","year":"2017","journal-title":"eNeuro"},{"key":"pcbi.1012037.ref018","doi-asserted-by":"crossref","unstructured":"Melendez-Calderon A, Bagutti L, Pedrono B, Burdet E. Hi5: A versatile dual-wrist device to study human-human interaction and bimanual control. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS); 2011. p. 2578\u20132583.","DOI":"10.1109\/IROS.2011.6094422"},{"key":"pcbi.1012037.ref019","article-title":"For motion assistance humans prefer to rely on a robot rather than on an unpredictable human","author":"E Ivanova","year":"2020","journal-title":"IEEE Open Journal of Engineering in Medicine and Biology"},{"issue":"44","key":"pcbi.1012037.ref020","doi-asserted-by":"crossref","first-page":"11165","DOI":"10.1523\/JNEUROSCI.3099-08.2008","article-title":"CNS learns stable, accurate, and efficient movements using a simple algorithm","volume":"28","author":"DW Franklin","year":"2008","journal-title":"Journal of Neuroscience"},{"key":"pcbi.1012037.ref021","doi-asserted-by":"crossref","first-page":"59","DOI":"10.3389\/fnhum.2016.00059","article-title":"Neural control adaptation to motor noise manipulation","volume":"10","author":"CJ Hasson","year":"2016","journal-title":"Frontiers in human neuroscience"},{"issue":"2","key":"pcbi.1012037.ref022","doi-asserted-by":"crossref","first-page":"494","DOI":"10.1152\/jn.00420.2022","article-title":"Physically interacting humans regulate muscle coactivation to improve visuo-haptic perception","volume":"129","author":"H B\u00f6rner","year":"2023","journal-title":"Journal of Neurophysiology"},{"issue":"1","key":"pcbi.1012037.ref023","doi-asserted-by":"crossref","first-page":"112","DOI":"10.1186\/s12984-015-0090-9","article-title":"On the analysis of movement smoothness","volume":"12","author":"S Balasubramanian","year":"2015","journal-title":"Journal of Neuroengineering and Rehabilitation"},{"issue":"2","key":"pcbi.1012037.ref024","doi-asserted-by":"crossref","first-page":"354","DOI":"10.1152\/jn.00639.2020","article-title":"Integration of proprioceptive and visual feedback during online control of reaching","volume":"127","author":"S Kasuga","year":"2022","journal-title":"Journal of Neurophysiology"},{"issue":"4","key":"pcbi.1012037.ref025","doi-asserted-by":"crossref","first-page":"2110","DOI":"10.1152\/jn.00347.2017","article-title":"Representing delayed force feedback as a combination of current and delayed states","volume":"118","author":"G Avraham","year":"2017","journal-title":"Journal of Neurophysiology"},{"issue":"3","key":"pcbi.1012037.ref026","doi-asserted-by":"crossref","first-page":"4","DOI":"10.1167\/14.3.4","article-title":"Predictability is necessary for closed-loop visual feedback delay adaptation","volume":"14","author":"M Rohde","year":"2014","journal-title":"Journal of Vision"},{"issue":"1","key":"pcbi.1012037.ref027","doi-asserted-by":"crossref","first-page":"7669","DOI":"10.1038\/s41598-017-07289-3","article-title":"The mechanical representation of temporal delays","volume":"7","author":"R Leib","year":"2017","journal-title":"Scientific Reports"},{"issue":"2","key":"pcbi.1012037.ref028","doi-asserted-by":"crossref","first-page":"426","DOI":"10.1152\/jn.00249.2014","article-title":"Adaptation to visual feedback delay in a redundant motor task","volume":"113","author":"A Farshchiansadegh","year":"2015","journal-title":"Journal of Neurophysiology"},{"issue":"1","key":"pcbi.1012037.ref029","doi-asserted-by":"crossref","first-page":"97","DOI":"10.1016\/0028-3932(71)90067-4","article-title":"The assessment and analysis of handedness: the Edinburgh Inventory","volume":"9","author":"RC Oldfield","year":"1971","journal-title":"Neuropsychologia"},{"issue":"5","key":"pcbi.1012037.ref030","doi-asserted-by":"crossref","first-page":"1605","DOI":"10.1109\/TVCG.2015.2446467","article-title":"The effects of low latency on pointing and steering tasks","volume":"22","author":"S Friston","year":"2015","journal-title":"IEEE Transactions on Visualization and Computer Graphics"},{"key":"pcbi.1012037.ref031","first-page":"33","article-title":"Target following performance in the presence of latency, jitter, and signal dropouts","volume":"vol. 2011","author":"A Pavlovych","year":"2011","journal-title":"Graphics Interface"}],"updated-by":[{"DOI":"10.1371\/journal.pcbi.1012037","type":"new_version","label":"New version","source":"publisher","updated":{"date-parts":[[2024,11,18]],"date-time":"2024-11-18T00:00:00Z","timestamp":1731888000000}}],"container-title":["PLOS Computational Biology"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dx.plos.org\/10.1371\/journal.pcbi.1012037","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,11,18]],"date-time":"2024-11-18T13:43:56Z","timestamp":1731937436000},"score":1,"resource":{"primary":{"URL":"https:\/\/dx.plos.org\/10.1371\/journal.pcbi.1012037"}},"subtitle":[],"editor":[{"given":"Adrian M","family":"Haith","sequence":"first","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2024,11,6]]},"references-count":31,"journal-issue":{"issue":"11","published-online":{"date-parts":[[2024,11,6]]}},"URL":"https:\/\/doi.org\/10.1371\/journal.pcbi.1012037","relation":{"has-preprint":[{"id-type":"doi","id":"10.1101\/2024.04.02.587670","asserted-by":"object"}]},"ISSN":["1553-7358"],"issn-type":[{"value":"1553-7358","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,11,6]]}}}