Human-Robot Collaboration with Force Feedback Utilizing Bimanual Coordination

ABSTRACTHumans realize various complex tasks with their upper limbs based on bimanual coordination. A fundamental feature of our bimanual coordination is the natural tendency to synchronize the upper limbs, resulting in preferred symmetrical patterns of interlimb coordination. In this early-stage study, based on the coarse-to-fine human-robot collaboration framework, we investigate the possibility of human-robot collaboration for accurate manipulation under force feedback utilizing the bimanual synchronous mechanism. Primary results suggested the effectiveness of the proposed method.