Abstract
This paper investigates how to extract and transmit behavioral intentions of users from intuitive inputs of Tsumori controller. We performed two experiments. The first experiment clarified how much the robot can be delayed to start moving toward operator's input without losing operator's agency, the feeling that they are initiating the motion. The second experiment compared fundamental two real-time algorithms to select robot segmented motion and showed that the average method could be better to stabilize the operator's intuitive input. Our results are discussed in terms of agency and real-time operation for Tsumori controller.
