Joint improvisation is observed to emerge spontaneously among humans performing joint action tasks, and has been associated with high levels of movement synchrony and enhanced sense of social bonding. Exploring the underlying cognitive and neural mechanisms behind the emergence of joint improvisation is an open research challenge. This paper investigates the emergence of jointly improvised movements between two participants in the mirror game, a paradigmatic joint task example. A theoretical model based on observations and analysis of experimental data is proposed to capture the main features of their interaction. A set of experiments is carried out to test and validate the model ability to reproduce the experimental observations. Then, the model is used to drive a computer avatar able to improvise joint motion with a human participant in real time. Finally, a convergence analysis of the proposed model is carried out to confirm its ability to reproduce the emergence of joint movement between the participants.
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