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The research main objective was to generate a smooth cooperative rigid object transfer by a human hand and a robot manipulator mimicking the same task performs by two humans. In achieving such objective, the relationship between movement time and traveled distances of the cooperative task performed by two humans were investigated. A motion capture system was utilized to record the movement of two subjects namely, Leader and Follower during the cooperative transfer of an object using their right hands in a seated position. The cooperative task was performed in forward/backward directions relative to the Leader. The Leader informed the Follower on the onset and the terminating position prior to the execution of the cooperative task. Both subjects moved the object towards the target together. The results show a linear relationship between movement time and traveled distances. Both subjects were found to have similar relationship for the cooperative task in the same direction. In forward/backward cooperative task, the direction is not significant in influencing the relationship between movement time and traveled distances. The relationship will be tested with robotic motion in the next phase of the research.

A Relationship between Movement Time and Traveled Distances in Forward/Backward Direction Cooperative Task