Recent advancements have enabled human-robot collaboration through physical assistance and verbal guidance. However, limitations persist in coordinating robots' physical motions and speech in response to real-time changes in human behavior during collaborative contact tasks. We first derive principles from analyzing physical therapists' movements and speech during patient exercises. These principles are translated into control objectives to: 1) guide users through trajectories, 2) control motion and speech pace to align completion times with varying user cooperation, and 3) dynamically paraphrase speech along the trajectory. We then propose a Language Controller that synchronizes motion and speech, modulating both based on user cooperation. Experiments with 12 users show the Language Controller successfully aligns motion and speech compared to baselines. This provides a framework for fluent human-robot collaboration.

翻译：近期进展使得人机协作得以通过物理协助和语言引导实现。然而，在协作性接触任务中，机器人根据人类行为的实时变化协调其物理运动与语音响应仍存在局限性。我们首先从分析物理治疗师在患者康复训练中的动作与言语中提炼出若干原则。这些原则被转化为控制目标：1) 引导用户沿轨迹运动；2) 控制运动与语音节奏，使完成时间随用户协作程度的变化而同步；3) 沿轨迹动态改写语音。我们进而提出一种语言控制器，该控制器同步运动与语音，并根据用户协作程度调节两者。与12名用户的实验表明，相较于基线方法，语言控制器成功实现了运动与语音的对齐。这为流畅的人机协作提供了一种框架。