Abstract
The purpose of this study is to investigate moving and pointing behavior characteristics during human-robot cooperative positioning tasks. In previous studies, various variable impedance control systems, in which impedance parameters are adjusted following a projected trajectory, have been proposed. However, only characteristics of trajectory during moving behaviors were evaluated, without mentioning the relation between moving and pointing behaviors. In addition, the difference of task tune and a distance in each experiment is not considered for the simplification. Therefore, in this study, the relation between pointing accuracy and a trajectory of velocity is analyzed using a correlation efficient and velocity profiles in various conditions to reveal the task behavior of the human operator in the human-robot cooperative task system.
