Human-human interaction using a behavioural control strategy

This paper presents an outline of human-human interaction to establish a framework to understand how a behaviour based approach can be developed in the design of a human-robot interactive strategy. To approach the conceptual design guidelines for an interactive human-robot strategy, the mathematical model of human behaviour during transferring the compliant object to a receiver without any types of communication has been strategically analysed. The Auto Regressive Moving Average with Exogenous Input (ARMAX) system identification has been applied to identify the human arm model. A set of experiments have been designed (based on BoxBehnken), along with the influence variables affecting the human forces, which consist of mass, friction and target displacement. The estimated ARMAX models were shown to be good matching with the actual experimental data, where the best-fit percentages of human force profiles are between 88.73%-97.2%; the proposed models can then be used to present the human arm characteristics effectively.