Human unintentional and intentional interpersonal coordination in interaction with a humanoid robot.

In order to establish natural social synchrony between two humans, two requirements need to be fulfilled. First, the coupling must be bi-directional. The two humans react to each other's actions. Second, natural social bodily synchronization has to be intentional or unintentional. Assuming that these essential aspects of human-human interactions are present, the present paper investigates whether similar bodily synchrony emerges between an interacting human and an artificial agent such as a robot. More precisely, we investigate whether the same human unintentional rhythmic entrainment and synchronization is present in Human Robot Interaction (HRI). We also evaluate which model (e.g., an adaptive vs non adaptive robot) better reproduces such unintentional entrainment. And finally, we compare interagent coordination stability of the HRI under 1) unidirectional (robot with fixed frequency) versus bidirectional (robot with adaptive frequency) rhythmic entrainment and 2) human intentional versus unintentional coupling. Fifteen young adults made vertical arm movements in front of the NAO robot under five different conditions of intentional/unintentional and unidirectional/bidirectional interactions. Consistent with prior research investigating human-human interpersonal coordination, when humans interact with our robot, (i) unintentional entrainment was present, (ii) bi-directional coupling produced more stable in-phase un-intentional and intentional coordination, (iii) and intentional coordination was more stable than unintentional coordination. To conclude, this study provides a foundation for modeling future social robots involving unintentional and bidirectional synchronization-aspects which seem to enhance humans' willingness to interact with robots.

Following the Mangroves: diversification in the banded lampeye Aplocheilichthys spilauchen (Duméril, 1861) (Cyprinodontiformes: Procatopodidae) along the Atlantic coast of Africa.

Available ecological information, an extensive distributional range, conflicting osteological data, and a proposed early Miocene origin provide the impetus for the present study which investigates genetic structuring, biogeographic, and phylogenetic relationships within the Aplocheilichthys spilauchen lineage. Through the analysis of the mitochondrial gene COI, species delimitation methods (ABGD, GB, GMYC, bPTP) were applied, recognizing 6-7 OTUs with absolute pairwise genetic distances ranging between 8 and 22%. The onset of diversification is estimated to be within the middle Miocene and both dispersal and vicariance-shaped A. spilauchen diversity and distribution, as suggested by time-calibrated and ancestral range reconstruction (S-DIVA) analyses. We report for the first time, a pattern of diversification within a lineage of brackish water fish that is concordant with the historical distribution of coastal mangroves forests, shaped by a series of historical events that likely affected forest cover since the middle Miocene (e.g. major climate shifts and sea-level fluctuations, onset of the modern Congo River outlet, increased volcanism in the Cameroon Volcanic Line). SUPPLEMENTARY INFORMATION: The online version of this article (doi:10.1007/s10750-020-04497-3) contains supplementary material, which is available to authorized users.

Understanding the Influence of Social and Motor Context on the Co-occurring Frequency of Restricted and Repetitive Behaviors in Autism.

The social and motor context in which restricted and repetitive behaviors (RRBs) occur in autism and their relationship to social traits are not well-understood. Participants with and without autism completed tasks that varied in social and motor engagement and RRB frequency was measured. Motor and verbal RRBs were most common, RRBs varied based on motor and social context for participants with autism, and social engagement was associated with lower motor and verbal RRBs. Significant correlations between RRBs and autism severity, social synchrony, and nonverbal mental age were also found. This research confirms the importance of context for understanding RRBs during on-going tasks and raises questions about whether the factors that elicit vocal and motor RRBs are unique for individual children.

Embodied Synchronization and Complexity in a Verbal Interaction.

Previous research has found that spontaneous synchronization of bodily movements emerges when people interact. This dynamic interactional synchrony occurs in all kinds of everyday movements and has been demonstrated empirically in a variety of social contexts. The objective of this study is to advance our understanding of the dynamical processes that enable the spontaneous and fluid coordination of movements in more naturalistic social interactions. We measured the degree of interactional synchrony of 44 dyads who enacted a series of knock-knock jokes together and we manipulated the perceptual information available (using auditory occlusion) and the individuals' dynamical motor 'signatures' by weighting their limbs. Our analyses using relative phase and fractal/multifractal measures support the conclusion that both local and global dynamical synchronization processes sustain the interactional fluidity seen in conversational exchanges and provide an embodied foundation for how humans connect and cooperate socially.

Alpha band signatures of social synchrony.

Previous research has reported changes in mu rhythm, the central rhythm of the alpha frequency band, in both intentional and spontaneous interpersonal coordination. The current study was designed to extend existing findings on social synchrony to the pendulum swinging task and simultaneously measured time unfolding behavioral synchrony and EEG estimation of mu activity during spontaneous, intentional in-phase and intentional anti-phase interpersonal coordination. As expected, the behavioral measures of synchrony demonstrated the expected pattern of weak synchronization for spontaneous coordination, moderate synchronization for intentional anti-phase coordination, and strong synchronization for in-phase coordination. With respect to the EEG measures, we found evidence for mu enhancement for spontaneous coordination in contrast to mu suppression for intentional coordination (both in phase and anti-phase), with higher levels of synchronization associated with higher levels of mu suppression in the right hemisphere. The implications of the research findings and methodology for understanding the underlying mechanisms contributing to social problems in psychological disorders, leader-follower relationships, and inter-brain dynamics are discussed.

Relationship Between Theory of Mind, Emotion Recognition, and Social Synchrony in Adolescents With and Without Autism.

Difficulty in social communication and interaction is a primary diagnostic feature of ASD. Research has found that adolescents with ASD display various impairments in social behavior such as theory of mind (ToM), emotion recognition, and social synchrony. However, not much is known about the relationships among these dimensions of social behavior. Adolescents with and without ASD participated in the study. ToM ability was measured by viewing social animations of geometric shapes, recognition of facial emotions was measured by viewing pictures of faces, and synchrony ability was measured with a spontaneously arising interpersonal movement task completed with a caregiver and an intentional interpersonal task. Attention and social responsiveness were measured using parent reports. We then examined the relationship between ToM, emotion recognition, clinical measures of attention and social responsiveness, and social synchronization that arises either spontaneously or intentionally. Results indicate that spontaneous synchrony was related to ToM and intentional synchrony was related to clinical measures of attention and social responsiveness. Facial emotion recognition was not related to either ToM or social synchrony. Our findings highlight the importance of biological motion perception and production and attention for more fully understanding the social behavior characteristic of ASD. The findings suggest that the processes underlying difficulties in spontaneous synchrony in ASD are different than the processes underlying difficulties in intentional synchronization.

Correction: Evidence of embodied social competence during conversation in high functioning children with autism spectrum disorder.

[This corrects the article DOI: 10.1371/journal.pone.0193906.].

Evidence of embodied social competence during conversation in high functioning children with autism spectrum disorder.

Even high functioning children with Autism Spectrum Disorder (ASD) exhibit impairments that affect their ability to carry out and maintain effective social interactions in multiple contexts. One aspect of subtle nonverbal communication that might play a role in this impairment is the whole-body motor coordination that naturally arises between people during conversation. The current study aimed to measure the time-dependent, coordinated whole-body movements between children with ASD and a clinician during a conversational exchange using tools of nonlinear dynamics. Given the influence that subtle interpersonal coordination has on social interaction feelings, we expected there to be important associations between the dynamic motor movement measures introduced in the current study and the measures used traditionally to categorize ASD impairment (ADOS-2, joint attention and theory of mind). The study found that children with ASD coordinated their bodily movements with a clinician, that these movements were complex and that the complexity of the children's movements matched that of the clinician's movements. Importantly, the degree of this bodily coordination was related to higher social cognitive ability. This suggests children with ASD are embodying some degree of social competence during conversations. This study demonstrates the importance of further investigating the subtle but important bodily movement coordination that occurs during social interaction in children with ASD.

Influence of stimulus velocity profile on unintentional visuomotor entrainment depends on eye movements.

Humans spontaneously entrain their movements to visual rhythms in the environment. Previous research has shown that the strength of such unintentional visuomotor entrainment is enhanced when observing rhythms characterized by the nonlinear, Rayleigh kinematics typical of human movements; such movements are characterized by greater slowness towards the trajectory turning points compared to sinusoidal movements. However, the enhanced unintentional entrainment to rhythms exhibiting Rayleigh kinematics has only been shown to occur when participants tracked stimulus movements with their eyes, which might have facilitated access to important information for enhanced entrainment. The current study compared the strength of unintentional visuomotor entrainment with both Rayleigh and sinusoidal kinematics when participants were either tracking (eye following the oscillating stimulus) or non-tracking (eye fixed at the centre of the stimulus trajectory) stimulus movements. The results showed that enhanced unintentional entrainment with Rayleigh stimuli only occurred with eye-tracking, supporting that slowness of rhythmic movements towards turning points facilitate entrainment and that access to this information depends on eye movements.

Investigating the social behavioral dynamics and differentiation of skill in a martial arts technique.

Coordinating interpersonal motor activity is crucial in martial arts, where managing spatiotemporal parameters is emphasized to produce effective techniques. Modeling arm movements in an Aikido technique as coupled oscillators, we investigated whether more-skilled participants would adapt to the perturbation of weighted arms in different and predictable ways compared to less-skilled participants. Thirty-four participants ranging from complete novice to veterans of more than twenty years were asked to perform an Aikido exercise with a repeated attack and response, resulting in a period of steady-state coordination, followed by a take down. We used mean relative phase and its variability to measure the steady-state dynamics of both the inter- and intrapersonal coordination. Our findings suggest that interpersonal coordination of less-skilled participants is disrupted in highly predictable ways based on oscillatory dynamics; however, more-skilled participants overcome these natural dynamics to maintain critical performance variables. Interestingly, the more-skilled participants exhibited more variability in their intrapersonal dynamics while meeting these interpersonal demands. This work lends insight to the development of skill in competitive social motor activities.

Evaluating the importance of social motor synchronization and motor skill for understanding autism.

Impairments in social interaction and communicating with others are core features of autism spectrum disorder (ASD), but the specific processes underlying such social competence impairments are not well understood. An important key for increasing our understanding of ASD-specific social deficits may lie with the social motor synchronization that takes place when we implicitly coordinate our bodies with others. Here, we tested whether dynamical measures of synchronization differentiate children with ASD from controls and further explored the relationships between synchronization ability and motor control problems. We found (a) that children with ASD exhibited different and less stable patterns of social synchronization ability than controls; (b) children with ASD performed motor movements that were slower and more variable in both spacing and timing; and (c) some social synchronization that involved motor timing was related to motor ability but less rhythmic synchronization was not. These findings raise the possibility that objective dynamical measures of synchronization ability and motor skill could provide new insights into understanding the social deficits in ASD that could ultimately aid clinical diagnosis and prognosis. Autism Res 2017, 10: 1687-1699. © 2017 International Society for Autism Research, Wiley Periodicals, Inc.

Social Motor Synchronization: Insights for Understanding Social Behavior in Autism.

Impairments in social interaction and communication are critical features of ASD but the underlying processes are poorly understood. An under-explored area is the social motor synchronization that happens when we coordinate our bodies with others. Here, we explored the relationships between dynamical measures of social motor synchronization and assessments of ASD traits. We found (a) spontaneous social motor synchronization was associated with responding to joint attention, cooperation, and theory of mind while intentional social motor synchronization was associated with initiating joint attention and theory of mind; and (b) social motor synchronization was associated with ASD severity but not fully explained by motor problems. Findings suggest that objective measures of social motor synchronization may provide insights into understanding ASD traits.

Can low-cost motion-tracking systems substitute a Polhemus system when researching social motor coordination in children?

Functionally stable and robust interpersonal motor coordination has been found to play an integral role in the effectiveness of social interactions. However, the motion-tracking equipment required to record and objectively measure the dynamic limb and body movements during social interaction has been very costly, cumbersome, and impractical within a non-clinical or non-laboratory setting. Here we examined whether three low-cost motion-tracking options (Microsoft Kinect skeletal tracking of either one limb or whole body and a video-based pixel change method) can be employed to investigate social motor coordination. Of particular interest was the degree to which these low-cost methods of motion tracking could be used to capture and index the coordination dynamics that occurred between a child and an experimenter for three simple social motor coordination tasks in comparison to a more expensive, laboratory-grade motion-tracking system (i.e., a Polhemus Latus system). Overall, the results demonstrated that these low-cost systems cannot substitute the Polhemus system in some tasks. However, the lower-cost Microsoft Kinect skeletal tracking and video pixel change methods were successfully able to index differences in social motor coordination in tasks that involved larger-scale, naturalistic whole body movements, which can be cumbersome and expensive to record with a Polhemus. However, we found the Kinect to be particularly vulnerable to occlusion and the pixel change method to movements that cross the video frame midline. Therefore, particular care needs to be taken in choosing the motion-tracking system that is best suited for the particular research.

Impairments of Social Motor Synchrony Evident in Autism Spectrum Disorder.

Social interactions typically involve movements of the body that become synchronized over time and both intentional and spontaneous interactional synchrony have been found to be an essential part of successful human interaction. However, our understanding of the importance of temporal dimensions of social motor synchrony in social dysfunction is limited. Here, we used a pendulum coordination paradigm to assess dynamic, process-oriented measures of social motor synchrony in adolescents with and without autism spectrum disorder (ASD). Our data indicate that adolescents with ASD demonstrate less synchronization in both spontaneous and intentional interpersonal coordination. Coupled oscillator modeling suggests that ASD participants assembled a synchronization dynamic with a weaker coupling strength, which corresponds to a lower sensitivity and decreased attention to the movements of the other person, but do not demonstrate evidence of a delay in information transmission. The implication of these findings for isolating an ASD-specific social synchronization deficit that could serve as an objective, bio-behavioral marker is discussed.

Influence of Internal and External Noise on Spontaneous Visuomotor Synchronization.

Historically, movement noise or variability is considered to be an undesirable property of biological motor systems. In particular, noise is typically assumed to degrade the emergence and stability of rhythmic motor synchronization. Recently, however, it has been suggested that small levels of noise might actually improve the functioning of motor systems and facilitate their adaptation to environmental events. Here, the authors investigated whether noise can facilitate spontaneous rhythmic visuomotor synchronization. They examined the influence of internal noise in the rhythmic limb movements of participants and external noise in the movement of an oscillating visual stimulus on the occurrence of spontaneous synchronization. By indexing the natural frequency variability of participants and manipulating the frequency variability of the visual stimulus, the authors demonstrated that both internal and external noise degrade synchronization when the participants' and stimulus movement frequencies are similar, but can actually facilitate synchronization when the frequencies are different. Furthermore, the two kinds of noise interact with each other. Internal noise facilitates synchronization only when external noise is minimal and vice versa. Too much internal and external noise together degrades synchronization. These findings open new perspectives for better understanding the role of noise in human rhythmic coordination.

Informational constraints on spontaneous visuomotor entrainment.

Past research has revealed that an individual's rhythmic limb movements become spontaneously entrained to an environmental rhythm if visual information about the rhythm is available and its frequency is near that of the individual's movements. Research has also demonstrated that if the eyes track an environmental stimulus, the spontaneous entrainment to the rhythm is strengthened. One hypothesis explaining this enhancement of spontaneous entrainment is that the limb movements and eye movements are linked through a neuromuscular coupling or synergy. Another is that eye-tracking facilitates the pick up of important coordinating information. Experiment 1 investigated the first hypothesis by evaluating whether any rhythmic movement of the eyes would facilitate spontaneous entrainment. Experiments 2 and 3 (respectively) explored whether eye-tracking strengthens spontaneous entrainment by allowing the pickup of trajectory direction change information or allowing an increase in the amount of information to be picked-up. Results suggest that the eye-tracking enhancement of spontaneous entrainment is a consequence of increasing the amount of information available to be picked-up.

Self-organized complementary joint action: Behavioral dynamics of an interpersonal collision-avoidance task.

Understanding stable patterns of interpersonal movement coordination is essential to understanding successful social interaction and activity (i.e., joint action). Previous research investigating such coordination has primarily focused on the synchronization of simple rhythmic movements (e.g., finger/forearm oscillations or pendulum swinging). Very few studies, however, have explored the stable patterns of coordination that emerge during task-directed complementary coordination tasks. Thus, the aim of the current study was to investigate and model the behavioral dynamics of a complementary collision-avoidance task. Participant pairs performed a repetitive targeting task in which they moved computer stimuli back and forth between sets of target locations without colliding into each other. The results revealed that pairs quickly converged onto a stable, asymmetric pattern of movement coordination that reflected differential control across participants, with 1 participant adopting a more straight-line movement trajectory between targets, and the other participant adopting a more elliptical trajectory between targets. This asymmetric movement pattern was also characterized by a phase lag between participants and was essential to task success. Coupling directionality analysis and dynamical modeling revealed that this dynamic regime was due to participant-specific differences in the coupling functions that defined the task-dynamics of participant pairs. Collectively, the current findings provide evidence that the dynamical coordination processes previously identified to underlie simple motor synchronization can also support more complex, goal-directed, joint action behavior, and can participate the spontaneous emergence of complementary joint action roles.

Dancers entrain more effectively than non-dancers to another actor's movements.

For many everyday sensorimotor tasks, trained dancers have been found to exhibit distinct and sometimes superior (more stable or robust) patterns of behavior compared to non-dancers. Past research has demonstrated that experts in fields requiring specialized physical training and behavioral control exhibit superior interpersonal coordination capabilities for expertise-related tasks. To date, however, no published studies have compared dancers' abilities to coordinate their movements with the movements of another individual-i.e., during a so-called visual-motor interpersonal coordination task. The current study was designed to investigate whether trained dancers would be better able to coordinate with a partner performing short sequences of dance-like movements than non-dancers. Movement time series were recorded for individual dancers and non-dancers asked to synchronize with a confederate during three different movement sequences characterized by distinct dance styles (i.e., dance team routine, contemporary ballet, mixed style) without hearing any auditory signals or music. A diverse range of linear and non-linear analyses (i.e., cross-correlation, cross-recurrence quantification analysis, and cross-wavelet analysis) provided converging measures of coordination across multiple time scales. While overall levels of interpersonal coordination were influenced by differences in movement sequence for both groups, dancers consistently displayed higher levels of coordination with the confederate at both short and long time scales. These findings demonstrate that the visual-motor coordination capabilities of trained dancers allow them to better synchronize with other individuals performing dance-like movements than non-dancers. Further investigation of similar tasks may help to increase the understanding of visual-motor entrainment in general, as well as provide insight into the effects of focused training on visual-motor and interpersonal coordination.

Bodily synchronization underlying joke telling.

Advances in video and time series analysis have greatly enhanced our ability to study the bodily synchronization that occurs in natural interactions. Past research has demonstrated that the behavioral synchronization involved in social interactions is similar to dynamical synchronization found generically in nature. The present study investigated how the bodily synchronization in a joke telling task is spread across different nested temporal scales. Pairs of participants enacted knock-knock jokes and times series of their bodily activity were recorded. Coherence and relative phase analyses were used to evaluate the synchronization of bodily rhythms for the whole trial as well as at the subsidiary time scales of the whole joke, the setup of the punch line, the two-person exchange and the utterance. The analyses revealed greater than chance entrainment of the joke teller's and joke responder's movements at all time scales and that the relative phasing of the teller's movements led those of the responder at the longer time scales. Moreover, this entrainment was greater when visual information about the partner's movements was present but was decreased particularly at the shorter time scales when explicit gesturing in telling the joke was performed. In short, the results demonstrate that a complex interpersonal bodily "dance" occurs during structured conversation interactions and that this "dance" is constructed from a set of rhythms associated with the nested behavioral structure of the interaction.

Influence of stimulus velocity profile on rhythmic visuomotor coordination.

Every day, we visually coordinate our movements with environmental rhythms. Despite its ubiquity, it largely remains unclear why certain visual rhythms or stimuli facilitate such visuomotor coordination. The goal of the current study was to investigate whether the velocity profile of a rhythmic stimulus modulated the emergence and stability of this coordination. We examined both intended (Experiment 1) and unintended or spontaneous coordination (Experiment 2) between the rhythmic limb movements of participants and stimuli exhibiting different velocity profiles. Specifically, the stimuli oscillated with either a sinusoidal (harmonic), nonlinear Rayleigh, or nonlinear Van der Pol velocity profile, all of which are typical of human or biological rhythmic movement. The results demonstrated that the dynamics of both intended and unintended visuomotor coordination were modulated by the stimulus velocity profile, and that the Rayleigh velocity profile facilitated the coordination, suggesting a crucial role of the slowness to the endpoints or turning points of the stimulus trajectory for stable coordination. More generally, these findings open promising research directions to better understand and improve coordination with artificial agents and people with social deficits.