Quantitative measures of cooperation for a dyadic physical interaction task

Lack of a comprehensive model for physical collaboration tasks motivated many researchers to focus on a particular aspect of the collaboration. In this work, we introduce a metric that quantifies the cooperative quality of a collaborative task. Based on the proposed model of cooperation, we present a set of five metrics that capture different properties of such tasks. The results of an empirical study with human subjects prove the effectiveness of the proposed model and the metrics.