A Study of Human-Robot Handover through Human-Human Object Transfer

Bobak H. Baghi; Charlotte Morissette; Francois R. Hogan; Gregory Dudek

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A Study of Human-Robot Handover through Human-Human Object Transfer

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arxiv 2311.13021 v1 pith:GV6PS5YS submitted 2023-11-21 cs.HC cs.RO

Charlotte Morissette , Bobak H. Baghi , Francois R. Hogan , Gregory Dudek This is my paper · ORCID

classification cs.HCcs.RO

keywords handoverobjectsensorbehaviourdataemptyfullhazardous

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In this preliminary study, we investigate changes in handover behaviour when transferring hazardous objects with the help of a high-resolution touch sensor. Participants were asked to hand over a safe and hazardous object (a full cup and an empty cup) while instrumented with a modified STS sensor. Our data shows a clear distinction in the length of handover for the full cup vs the empty one, with the former being slower. Sensor data further suggests a change in tactile behaviour dependent on the object's risk factor. The results of this paper motivate a deeper study of tactile factors which could characterize a risky handover, allowing for safer human-robot interactions in the future.

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