As humans, we have a remarkable capacity for reading the characteristics of objects only by observing how another person carries them. Indeed, how we perform our actions naturally embeds information on the item features. Collaborative robots can achieve the same ability by modulating the strategy used to transport objects with their end-effector. A contribution in this sense would promote spontaneous interactions by making an implicit yet effective communication channel available. This work investigates if humans correctly perceive the implicit information shared by a robotic manipulator through its movements during a dyadic collaboration task. Exploiting a generative approach, we designed robot actions to convey virtual properties of the transported objects, particularly to inform the partner if any caution is required to handle the carried item. We found that carefulness is correctly interpreted when observed through the robot movements. In the experiment, we used identical empty plastic cups; nevertheless, participants approached them differently depending on the attitude shown by the robot: humans change how they reach for the object, being more careful whenever the robot does the same. This emerging form of motor contagion is entirely spontaneous and happens even if the task does not require it.

翻译：作为人类,我们只有观察另一个人携带物体的方式,才有非凡的能力来阅读物体的特性。事实上,我们如何执行我们的行动,自然地嵌入关于物品特性的信息。协作机器人可以通过调整用其终端效应运输物体的战略而取得同样的能力。从这个意义上讲,通过提供隐含而有效的通信频道,这种贡献将促进自发的互动。这项工作调查人类是否正确看到机器人操纵者在三角协作任务期间通过其运动所共享的隐含信息。运用基因化方法,我们设计机器人行动来传递被运输物体的虚拟特性,特别是如果需要谨慎处理所携带的物体,则通知伙伴。我们发现,在通过机器人运动观察时,小心谨慎是正确解释的。在实验中,我们使用相同的空塑料杯;然而,参与者根据机器人所显示的态度,不同对待它们的方式是:人类改变它们如何接触物体,每当机器人做同样的事情时要更加小心。这种正在形成的运动传染形式是完全自发性的,即使任务不需要它,也会发生。