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Object-mediated joint action is believed to be enabled by implicitinformation exchange between interacting individuals using subtle hapticsignals within their interaction forces. The characteristics of these hapticsignals have, however, remained unclear. Here we analyzed the interactionforces during an empirical dyadic interaction task using Granger-Gewekecausality analysis, which allowed us to quantify the causal influence of eachindividual's forces on their partner's. We observed that the inter-partnerinfluence was not the same at every frequency. Specifically, in the frequencyband of [2.15-7] Hz, we observed inter-partner differences of causal influencethat were invariant of the movement frequencies in the task and present onlywhen information exchange was indispensable for task performance. Moreover, theinterpartner difference in this frequency band was observed to be correlatedwith the task performance by the dyad. Our results suggest that forces in the[2.15-7] Hz band constitute task related information exchange betweenindividuals during physical interactions.

Interacting humans use forces in specific frequencies to exchange information by touch