Human-Human Hand Interactions Aid Balance During Walking by Haptic Communication

Principles from human-human physical interaction may be necessary to design more intuitive and seamless robotic devices to aid human movement. Previous studies have shown that light touch can aid balance and that haptic communication can improve performance of physical tasks, but the effects of touc...

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Autores principales:	Mengnan Wu, Luke Drnach, Sistania M. Bong, Yun Seong Song, Lena H. Ting
Formato:	article
Lenguaje:	EN
Publicado:	Frontiers Media S.A. 2021
Materias:	haptic communication walking balance beam-walking walking aid balance assistance human-human interaction Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/b1f4eda838b14816925f684ab954697f
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id	oai:doaj.org-article:b1f4eda838b14816925f684ab954697f
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spelling	oai:doaj.org-article:b1f4eda838b14816925f684ab954697f2021-11-04T06:07:12ZHuman-Human Hand Interactions Aid Balance During Walking by Haptic Communication2296-914410.3389/frobt.2021.735575https://doaj.org/article/b1f4eda838b14816925f684ab954697f2021-11-01T00:00:00Zhttps://www.frontiersin.org/articles/10.3389/frobt.2021.735575/fullhttps://doaj.org/toc/2296-9144Principles from human-human physical interaction may be necessary to design more intuitive and seamless robotic devices to aid human movement. Previous studies have shown that light touch can aid balance and that haptic communication can improve performance of physical tasks, but the effects of touch between two humans on walking balance has not been previously characterized. This study examines physical interaction between two persons when one person aids another in performing a beam-walking task. 12 pairs of healthy young adults held a force sensor with one hand while one person walked on a narrow balance beam (2 cm wide x 3.7 m long) and the other person walked overground by their side. We compare balance performance during partnered vs. solo beam-walking to examine the effects of haptic interaction, and we compare hand interaction mechanics during partnered beam-walking vs. overground walking to examine how the interaction aided balance. While holding the hand of a partner, participants were able to walk further on the beam without falling, reduce lateral sway, and decrease angular momentum in the frontal plane. We measured small hand force magnitudes (mean of 2.2 N laterally and 3.4 N vertically) that created opposing torque components about the beam axis and calculated the interaction torque, the overlapping opposing torque that does not contribute to motion of the beam-walker’s body. We found higher interaction torque magnitudes during partnered beam-walking vs. partnered overground walking, and correlation between interaction torque magnitude and reductions in lateral sway. To gain insight into feasible controller designs to emulate human-human physical interactions for aiding walking balance, we modeled the relationship between each torque component and motion of the beam-walker’s body as a mass-spring-damper system. Our model results show opposite types of mechanical elements (active vs. passive) for the two torque components. Our results demonstrate that hand interactions aid balance during partnered beam-walking by creating opposing torques that primarily serve haptic communication, and our model of the torques suggest control parameters for implementing human-human balance aid in human-robot interactions.Mengnan WuLuke DrnachSistania M. BongYun Seong SongLena H. TingLena H. TingFrontiers Media S.A.articlehaptic communicationwalking balancebeam-walkingwalking aidbalance assistancehuman-human interactionMechanical engineering and machineryTJ1-1570Electronic computers. Computer scienceQA75.5-76.95ENFrontiers in Robotics and AI, Vol 8 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	haptic communication walking balance beam-walking walking aid balance assistance human-human interaction Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
spellingShingle	haptic communication walking balance beam-walking walking aid balance assistance human-human interaction Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95 Mengnan Wu Luke Drnach Sistania M. Bong Yun Seong Song Lena H. Ting Lena H. Ting Human-Human Hand Interactions Aid Balance During Walking by Haptic Communication
description	Principles from human-human physical interaction may be necessary to design more intuitive and seamless robotic devices to aid human movement. Previous studies have shown that light touch can aid balance and that haptic communication can improve performance of physical tasks, but the effects of touch between two humans on walking balance has not been previously characterized. This study examines physical interaction between two persons when one person aids another in performing a beam-walking task. 12 pairs of healthy young adults held a force sensor with one hand while one person walked on a narrow balance beam (2 cm wide x 3.7 m long) and the other person walked overground by their side. We compare balance performance during partnered vs. solo beam-walking to examine the effects of haptic interaction, and we compare hand interaction mechanics during partnered beam-walking vs. overground walking to examine how the interaction aided balance. While holding the hand of a partner, participants were able to walk further on the beam without falling, reduce lateral sway, and decrease angular momentum in the frontal plane. We measured small hand force magnitudes (mean of 2.2 N laterally and 3.4 N vertically) that created opposing torque components about the beam axis and calculated the interaction torque, the overlapping opposing torque that does not contribute to motion of the beam-walker’s body. We found higher interaction torque magnitudes during partnered beam-walking vs. partnered overground walking, and correlation between interaction torque magnitude and reductions in lateral sway. To gain insight into feasible controller designs to emulate human-human physical interactions for aiding walking balance, we modeled the relationship between each torque component and motion of the beam-walker’s body as a mass-spring-damper system. Our model results show opposite types of mechanical elements (active vs. passive) for the two torque components. Our results demonstrate that hand interactions aid balance during partnered beam-walking by creating opposing torques that primarily serve haptic communication, and our model of the torques suggest control parameters for implementing human-human balance aid in human-robot interactions.
format	article
author	Mengnan Wu Luke Drnach Sistania M. Bong Yun Seong Song Lena H. Ting Lena H. Ting
author_facet	Mengnan Wu Luke Drnach Sistania M. Bong Yun Seong Song Lena H. Ting Lena H. Ting
author_sort	Mengnan Wu
title	Human-Human Hand Interactions Aid Balance During Walking by Haptic Communication
title_short	Human-Human Hand Interactions Aid Balance During Walking by Haptic Communication
title_full	Human-Human Hand Interactions Aid Balance During Walking by Haptic Communication
title_fullStr	Human-Human Hand Interactions Aid Balance During Walking by Haptic Communication
title_full_unstemmed	Human-Human Hand Interactions Aid Balance During Walking by Haptic Communication
title_sort	human-human hand interactions aid balance during walking by haptic communication
publisher	Frontiers Media S.A.
publishDate	2021
url	https://doaj.org/article/b1f4eda838b14816925f684ab954697f
work_keys_str_mv	AT mengnanwu humanhumanhandinteractionsaidbalanceduringwalkingbyhapticcommunication AT lukedrnach humanhumanhandinteractionsaidbalanceduringwalkingbyhapticcommunication AT sistaniambong humanhumanhandinteractionsaidbalanceduringwalkingbyhapticcommunication AT yunseongsong humanhumanhandinteractionsaidbalanceduringwalkingbyhapticcommunication AT lenahting humanhumanhandinteractionsaidbalanceduringwalkingbyhapticcommunication AT lenahting humanhumanhandinteractionsaidbalanceduringwalkingbyhapticcommunication
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Human-Human Hand Interactions Aid Balance During Walking by Haptic Communication

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