Robotic Light Touch Assists Human Balance Control During Maximum Forward Reaching

Human Factors The Journal of the Human Factors and Ergonomics Society, vol. 64, pp. 514–526

Abstract

OBJECTIVE: We investigated how light interpersonal touch (IPT) provided by a robotic system supports human individuals performing a challenging balance task compared to IPT provided by a human partner. BACKGROUND: IPT augments the control of body balance in contact receivers without a provision of mechanical body weight support. The nature of the processes governing the social haptic interaction, whether they are predominantly reactive or predictive, is uncertain. METHOD: Ten healthy adult individuals performed maximum forward reaching (MFR) without visual feedback while standing upright. We evaluated their control of reaching behavior and of body balance during IPT provided by either another human individual or by a robotic system in two alternative control modes (reactive vs. predictive). RESULTS: Reaching amplitude was not altered by any condition but all IPT conditions showed reduced body sway in the MFR end-state. Changes in reaching behavior under robotic IPT conditions, such as lower speed and straighter direction, were linked to reduced body sway. An Index of Performance expressed a potential trade-off between speed and accuracy with lower bitrate in the IPT conditions. CONCLUSION: The robotic IPT system was as supportive as human IPT. Robotic IPT seemed to afford more specific adjustments in the human contact receiver, such as trading reduced speed for increased accuracy, to meet the intrinsic demands and constraints of the robotic system or the demands of the social context when in contact with a human contact provider.

Authors 5

1. Leif Johannsen corresponding Aachen

   University of East Anglia · RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University, Germany

   University of East Anglia, Norwich, United Kingdom

2. Karna Potwar

   Technical University of Munich

   Affiliation as printed

   Technical University Munich, Germany

3. Matteo Saveriano

   Universität Innsbruck

   Affiliation as printed

   University of Innsbruck, Austria

4. Satoshi Endo

   Technical University of Munich

   Affiliation as printed

   Technical University Munich, Germany

5. Dongheui Lee

   Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR) · Technical University of Munich

   Affiliation as printed

   German Aerospace Center (DLR), Weßling, Germany

   Technical University Munich, Germany