Feedback Assistance with Concern for Others in Cooperative Work

Abstract

Recently, most of the research on the skill assistance has been aimed at improving individual skills. However, a few assistance techniques consider cooperative skill in conjunction with others in a group. In cooperative work, the operator is affected by other operators. Thus, teamwork is needed in cooperative work. We propose assistance by force feedback in cooperative work using concern for others (CFO) which is one of the factors in teamwork. Each operator is given a force sense similar to a spring by a virtual impedance model that is changed on the basis of the estimated CFO. Experimental results suggest that CFO can be estimated and it was possible for force feedback to assist in cooperative work.