In general, the term cooperation is defined as working together towards a common goal. Successful cooperation requires mutual adaptation based on the perceived behavior and communicated intentions of the counterpart. In the case of a physical interaction, e.g. jointly moving an object, a significant amount of this information is exchanged via the haptic channel. For this purpose, one needs to discriminate between self-originating and externally induced sensory input.
In this project () within the priority program DFG project no. 402740893, we investigate the underlying principles of such an interaction and transfer these findings to The Active Self in order to make it more intuitive to the human. human-robot cooperation