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Related Experiment Video

Updated: Mar 7, 2026

Real-Time Proxy-Control of Re-Parameterized Peripheral Signals using a Close-Loop Interface
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Haptic Coupling to Negotiate Motion Plans.

C De Vicariis, E Ivanova, V Sanguineti

    IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
    |March 5, 2026
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    Summary
    This summary is machine-generated.

    Collaborative partners negotiate differing plans using haptic coupling. When plans are asymmetric, the simpler plan leads, and the complex plan complies, minimizing effort during shared tasks.

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    Area of Science:

    • Human-Computer Interaction
    • Robotics
    • Motor Control

    Background:

    • Haptic coupling is crucial for everyday collaboration, allowing task coordination without constant verbal communication.
    • Existing research primarily examines haptic negotiation with shared plans, leaving a gap in understanding divergent plan scenarios.

    Purpose of the Study:

    • To investigate how motion plans adapt during collaborative tasks when partners begin with differing strategies.
    • To explore the influence of plan symmetry (equal vs. unequal effort) on haptic negotiation dynamics.

    Main Methods:

    • Two mechanically linked partners performed a repeating via-points arm-reaching task.
    • Participants were divided into groups with symmetric (similar effort) or asymmetric (different effort) initial plans.
    • Analysis focused on shape and movement metrics to quantify plan coordination and adaptation.

    Main Results:

    • All dyads demonstrated plan coordination through practice, impacting subsequent movements even without physical connection.
    • Symmetric plans led to slight mutual adaptation between partners.
    • Asymmetric plans resulted in the partner with the simpler plan taking the lead, while the partner with the more complex plan adapted and reduced their effort.

    Conclusions:

    • Mechanical interaction during collaboration facilitates negotiation of divergent plans.
    • Partners leverage haptic coupling to simplify task execution and minimize individual effort, particularly in asymmetric scenarios.