Haptic dancing: Human performance at haptic decoding with a vocabulary

Sommer Gentry, Roderick Murray-Smith

Research output: Contribution to journalConference articlepeer-review

19 Scopus citations


The inspiration for this study is the observation that swing dancing involves coordination of actions between two humans that can be accomplished by pure haptic signaling. This study implements a leader-follower dance to be executed between a human and a PHANToM haptic device. The data demonstrate that the participants' understanding of the motion as a random sequence of known moves informs their following, making this vocabulary-based interaction fundamentally different from closed loop pursuit tracking. This robot leader does not respond to the follower's movement other than to display error from a nominal path. This work is the first step in an investigation of the successful haptic coordination between dancers, which will inform a subsequent design of a truly interactive robot leader.

Original languageEnglish (US)
Pages (from-to)3432-3437
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
StatePublished - Nov 24 2003
Externally publishedYes
EventSystem Security and Assurance - Washington, DC, United States
Duration: Oct 5 2003Oct 8 2003


  • Control
  • Coordination
  • Haptic communication
  • Haptic interaction
  • Haptics
  • Motion primitives
  • Precognitive tracking
  • Pursuit tracking
  • Rhythmic interaction

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture


Dive into the research topics of 'Haptic dancing: Human performance at haptic decoding with a vocabulary'. Together they form a unique fingerprint.

Cite this