When we design a to make a PX(10) indicates that ih ,u which means that ()thoit positive definite, then e, and rx converge to 0 when t " 3 , can estimate (), i can track ih tpT+ id , and motion synchronization can be achieved. Experiment Experimental Setup We considered an experimental scenario where a human and a Baxter robot cocarry a wooden stick and " pick " and " place " the wooden stick from a starting position to a target position (see Figure 4). Detailed information about the Baxter robot can be found in our previous work [6]. Joint " E1 " of the Baxter robot's right arm is used to perform cotransporting tasks. Angles and angular velocities can be obtained by the encoder in the joint. A Kinect 2 3D depth camera is employed for obtaining elbow joint angle ih . The Kinect 2 3D depth camera contains a color camera and a depth sensor, which provides capabilities in 3D motion capture. In this experiment, we mount it on Pick 1 Pick 2 Pick 3 Target Position Start Position Start Position Place 1 Place 2 Start Position Place 3 Start Position Target Position Start Start Position Position Start Position Target Position Target Position (a) Kinect V2 Robot Human Hand Wooden Stick τ Robotic Gripper Human-Machine Collaboration Tasks Robotiq FT300 Robotiq FT300 Feedback External Torque (b) Figure 4. The experimental setup. (a) An illustration of the experimental setup. (b) Human-robot cotransporting tasks. DECEMBER 2022 * IEEE ROBOTICS & AUTOMATION MAGAZINE * 31 Control Torque Robot q τe Control Framework Visual Information Tracking Controller qr - Impedance Controller Master Computer Slave Computer Kinect V2 Filter Visual Information LR qd Prediction qd Linux Windows Target Position Place Pick "