“When to Take the Lead?” Mediation of Motion Intention in Collaborative Avatar Manipulation
Kenta Hashiura, Kazuma Takada, Takayoshi Hagiwara, Sohei Wakisaka, Kouta Minamizawa · 2025
Stuck! Mediation Cliff B Robotic Arm direction Figure 1: Two individuals jointly control a robotic arm.(A) The discrepancy between their intention leads to a conflict, which results in the robotic arm being unable to achieve the goal.(B) Histogram showing positions along the x-axis (mediation points) where participants resolved conflicting intentions.For analytical consistency, trajectories for which the left path was selected were horizontally inverted and treated as right-path trajectories.The x-axis shows position relative to the center point (0 cm), with positive values indicating positions to the right and negative values indicating positions to the left.Notably, some mediation points occur at negative x-values, indicating that conflicts were sometimes resolved even when the arm was positioned in the opposite direction from its final movement path.We observed a sharp drop-off in conflict resolution frequency at approximately +4 cm, which we termed the "Mediation Cliff", suggesting that most intention conflicts were resolved before the robotic arm reached this spatial threshold.