Implementation of haptic communication in comanipulative tasks: a   statistical state machine model
  - This paper presents an experimental evaluation of physical human-human interaction in lightweight condition using a one degree of freedom robotized setup. It explores possible origins of Physical Human-Human communication, more precisely, the hypothesis of a time based communication. To explore if the communication is correlated to time a statistical state machine model based on physical Human-Human interaction is proposed. The model is tested with 14 subjects and presents results that are close to human-human performances. 
Lucas Roche (ISIR), Ludovic Saint-Bauzel (ISIR)
cs.RO cs.SY