Analysis of the process of mutual interaction between human and internal control model

Clarifies the effectiveness of the `internal control model´, which we have suggested as a model of flexible human communication. This is the technology to which we apply the phenomenon known as `entrainment of bodily rhythm´ and the dynamics realized by this phenomenon. Concretely, we take the `walking support robot´ as an example of its application, and analyze the process of realizing cooperative walking between a human and the robot. In particular, we discuss whether or not the dynamics on the human side is the same as the robot´s dynamics and whether or not these dynamics can be synchronized with the dynamics on the model side if the process exists on the human side. From the results, it is clarified whether or not the internal control model is able to realize flexible and cooperative behavior with a human