Dynamical role division between two subjects in a crank-rotation task

This paper discusses skillful role divisions of coordinated motion between two subjects in a crank-rotation task. The roles for coordination, called ldquospecializationrdquo, emerge from only haptic interaction between the subjects, through which each subject comes to play a specialized role without conscious understanding. The purpose of this paper is, therefore, to deepen the understanding of ldquospecializationrdquo, which may be useful for improving coordination methods between humans and/or machines.