When controlling a machine through a manual control
interface, one has the opportunity to simultaneously apply
control action and monitor response. Information may flow
in both directions across the mechanical contact between
human and machine. In this paper, we present a scheme for
coordinating machine control between a human and an embedded
controller that uses the response information channel
to facilitate that coordination. The manual control interface
is motorized for application of the embedded controller’s
control action, but also for display of that action
to the cooperating human. By motorizing the manual control
interface, it becomes a haptic interface, advertising the
control actions of the embedded controller. The embedded
controller is placed in mechanical parallel with the human,
where the two then share control over the machine