Cooperation: education scheme with hardworking or lazy student.

<p><i>Left</i>: trajectory of the object during the two scenarios. <i>Right</i>: profiles of force applied by each subject to complete the task during the two scenarios (plain lines for the scenario where the student is lazy and mainly relies on the teacher to perform the task, dotted lines for the scenario where student is hardworking). Teacher strategy (cost function) remains the same in the two scenarios. However, although the teacher tries to minimize his involvement in the task, when he is interacting with a lazy student he is forced to provide a significant effort to bring the object on target.