WP3 aims at advancing interaction capability of human-robot systems. It addresses the general objectives by deciphering human interpersonal sensorimotor strategies for contact prediction, coordination, and force and impedance control. Position, force and impedance adaptation will be analysed to identify the patterns of visual and haptic human-human interaction, and to model their functionality. WP3 shall provide data for the development of models of force/impedance and whole-body motion primitives as basic elements in cognitive compliant motion control in WP4 and WP5.
Through experimentation, evaluation measures for naturalness in physical human-robot interaction shall be developed that are needed to benchmark performance of the robotic systems developed in WP6.