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We investigate how collaborative guidance can be realized in multi-modal virtual environments for dynamic tasks involving motor control. Haptic guidance in our context can be defined as any form of force/tactile feedback that the computer generates to help a user execute a task in a faster, more accurate, and subjectively more pleasing fashion. In particular, we are interested in determining guidance mechanisms that best facilitate task performance and arouse a natural sense of collaboration. We suggest that a haptic guidance system can be further improved if it is supplemented with a role exchange mechanism, which allows the computer to adjust the forces it applies to the user in response to his/her actions. Recent work on collaboration and role exchange presented new perspectives on defining roles and interaction. However existing approaches mainly focus on relatively basic environments where the state of …