Extensive experiments suggest that motor coordination among human participants may contribute to social affinity and emotional attachment, which has great potential in the clinical treatment of social disorders or schizophrenia. Mirror game provides an effective experimental paradigm for studying social motor coordination. Nevertheless, the lack of movement richness prevents the emergence of high-level coordination in the existing one-dimensional experiments. To tackle this problem, this work develops a two-dimensional experimental paradigm of mirror game by playing waggle dance between two participants. In particular, an online control architecture of customized virtual player is created to coordinate with human player. Therein, an iterative learning control algorithm is proposed by integrating position tracking and behavior imitation with prescribed kinematic feature. Moreover, convergence analysis of control algorithm is conducted to guarantee the online performance of virtual player. Finally, the proposed control strategy is validated by matching experimental data and compared with other control methods using a set of performance indexes.

翻译：大量实验表明，人类参与者之间的运动协调可能有助于社会亲和力与情感依恋的形成，这在社交障碍或精神分裂症的临床治疗中具有巨大潜力。镜像游戏为研究社会运动协调提供了有效的实验范式。然而，现有的一维实验因运动丰富性不足，阻碍了高水平协调的出现。为解决此问题，本研究通过让两名参与者进行摆尾舞互动，开发了二维镜像游戏实验范式。具体而言，构建了定制化虚拟玩家的在线控制架构，以实现与人类玩家的协调。其中，提出了一种迭代学习控制算法，该算法将位置跟踪和行为模仿与规定的运动学特征相结合。此外，通过对控制算法进行收敛性分析，确保了虚拟玩家的在线性能。最后，通过匹配实验数据验证了所提出的控制策略，并采用一组性能指标与其他控制方法进行了比较。