Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established. Nevertheless, communication through force signals is not well understood. In this paper, we focus on investigating the mechanisms employed by humans during the negotiation through force signals, which is an integral part of successful collaboration. Our objective is to use the insights to inform the design of controllers for robot assistants. Specifically, we want to enable robots to take the lead in collaboration. To achieve this goal, we conducted a study to observe how humans behave during collaborative manipulation tasks. During our preliminary data analysis, we discovered several new features that help us better understand how the interaction progresses. From these features, we identified distinct patterns in the data that indicate when a participant is expressing their intent. Our study provides valuable insight into how humans collaborate physically, which can help us design robots that behave more like humans in such scenarios.

翻译：物理人机交互（pHHI）涉及多种感知模态的运用。通过语言和手势进行交流的研究已相当成熟，但通过力信号进行交流的机制尚不明确。本文聚焦于探究人类在协同任务中通过力信号进行协商的机制——这是成功协作的关键组成部分。我们的目标是利用这些启示为机器人辅助控制器的设计提供依据，特别希望让机器人能够主导协作过程。为此，我们开展了一项实验，观察人类在协同操控任务中的行为模式。在初步数据分析中，我们发现了若干新特征，这有助于更深入理解交互过程的演进规律。基于这些特征，我们识别出数据中指示参与者意图表达的特定模式。本研究为理解人类物理协作机制提供了重要洞见，有助于设计出在类似场景中更具类人协作行为的机器人系统。