Abstract
The demand for human-friendly assistive robotic technology is increasing. One of the examples is the cooperative human-robot system for transferring of an object. We are aiming at generating a smooth and natural cooperative object transfers performed by a human and robotic system. Prior to the development of such system, the required characteristics for smooth and natural cooperative rigid object transfer between two humans were investigated. The relationship between duration and distance during cooperative motion is investigated. This relationship will be used with a well known minimum jerk model to generate a smooth robot manipulator motion. The results show a linear relationship between duration and distance for a distance more than 0.1m. Both subjects show a similar duration-distance characteristics during performing the cooperative task although the similarity was not observed between groups. In future, these characteristics will be tested with human-robot system.
