As fundamental research for human-robot interaction, this paper addresses the rhythmic reference of a human\r\nwhile turning a rope with another human. We hypothyzed that when interpreting rhythm cues to make a rhythm\r\nreference, humans will use auditory and force rhythms more than visual ones. We examined 21-23 years old test\r\nsubjects. We masked perception of each test subject using 3 kinds of masks, an eye-mask, headphones, and a force\r\nmask. The force mask is composed of a robot arm and a remote controller. These instruments allow a test subject\r\nto turn a rope without feeling force from the rope. In the first experiment, each test subject interacted with an\r\noperator that turned a rope with a constant rhythm. 8 experiments were conducted for each test subject that\r\nwore combinations of masks. We measured the angular velocity of force between a test subject/the operator and\r\na rope. We calculated error between the angular velocities of the force directions, and validated the error. In the\r\nsecond experiment, two test subjects interacted with each other. 1.6 - 2.4 Hz auditory rhythm was presented from\r\nheadphones so as to inform target turning frequency. Addition to the auditory rhythm, the test subjects wore eyemasks.\r\nThe first experiment showed that visual rhythm has little influence on rope-turning cooperation between\r\nhumans. The second experiment provided firmer evidence for the same hypothesis because humans neglected\r\ntheir visual rhythms.
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