歩行介助を目的とする人間-ロボット協調系における共創出過程の解析

抄録

Humans are able to generate various kinds of cooperative behaviors simultaneously with mutual adaptation. The purpose of this study is to propose new concept of the human-robot cooperation by regarding the process of ‘Co-emergence’ observed characteristically at the human-human cooperation as ideal. Especially, in this paper, we analyzed the dynamics of Co-emergence, which characterized that cooperation, by measuring the cooperative walk between human and walk-support robot ‘Walk-Mate’ equipped with Co-emergence model. As the results, it was clarified that the temporal development of the dynamics of human's walking was similar to of the robot's walking at the cooperation them. At the robot side, the emergent process as the process of mutual constraint between the body model and the internal model that were the components of Co-emergence model was observed. Correspondingly at the human side, such process was observed between the step of foots and the swing of arms. In addition, it was clarified that both these processes were cyclic and developed synchronically between them. Thus these results suggested that these cyclic processes were developing with adapting their own dynamics mutually, and the validity of Co-emergence model.