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Physical Human-Human Interaction (pHHI) involves the use of multiple sensorymodalities. Studies of communication through spoken utterances and gestures arewell established, but communication through force signals is not wellunderstood. In this paper, we focus on investigating the mechanisms employed byhumans during the negotiation through force signals, and how the robot cancommunicate task goals, comprehend human intent, and take the lead as needed.To achieve this, we formulate a task that requires active force communicationand propose a taxonomy that extends existing literature. Also, we conducted astudy to observe how humans behave during collaborative manipulation tasks. Animportant contribution of this work is the novel features based onforce-kinematic signals that demonstrate predictive power to recognize symbolichuman intent. Further, we show the feasibility of developing a real-time intentclassifier based on the novel features and speculate the role it plays inhigh-level robot controllers for physical Human-Robot Interaction (pHRI). Thiswork provides important steps to achieve more human-like fluid interaction inphysical co-manipulation tasks that are applicable and not limited to humanoid,assistive robots, and human-in-the-loop automation.

Robots Taking Initiative in Collaborative Object Manipulation: Lessons from Physical Human-Human Interaction