{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:M7SNRD4XETIQ4EKHD3IAJTQ67F","short_pith_number":"pith:M7SNRD4X","schema_version":"1.0","canonical_sha256":"67e4d88f9724d10e11471ed004ce1ef9619774bc2804d05583926d49c410ad8a","source":{"kind":"arxiv","id":"2607.17839","version":1},"attestation_state":"computed","paper":{"title":"Receiver-Centered Robot-to-Human Handover with Grasp-Aware Object Orientation","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dario Onfiani, Federico Biagi, Luigi Biagiotti, Simone Silenzi","submitted_at":"2026-07-20T11:30:03Z","abstract_excerpt":"Collaborative robots are increasingly sharing workspaces with human operators, making tool handover a frequent and safety-critical micro-interaction. However, traditional static handovers often lead to awkward grasps when handling asymmetric industrial tools. This paper presents a receiver-centered voice-driven adaptive handover system for mechanical tools, built on a Franka cobot. Using an LLM for intention recognition and MediaPipe for real-time 3D hand tracking, the framework dynamically adjusts the end-effector's orientation to present tools in an ergonomically optimal, handle-first pose. "},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2607.17839","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-20T11:30:03Z","cross_cats_sorted":[],"title_canon_sha256":"b60b5b5d6412b6c1af548d8de35af5fea2c406561804f2654ce045a547a72dcc","abstract_canon_sha256":"6174200afdaaf1a4f3b482b557ab89a8ba1185f2e59ef389485a9e0b232460de"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-21T02:22:02.727832Z","signature_b64":"iiNfg7ZnC2qLZrxIKAWrZSeMHFC/9QpZ6/BBghJyEs0oZiKhPJV3Xg3+PUOZAjLMfmIpmi35vyeVLU55N1+DBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"67e4d88f9724d10e11471ed004ce1ef9619774bc2804d05583926d49c410ad8a","last_reissued_at":"2026-07-21T02:22:02.726979Z","signature_status":"signed_v1","first_computed_at":"2026-07-21T02:22:02.726979Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Receiver-Centered Robot-to-Human Handover with Grasp-Aware Object Orientation","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dario Onfiani, Federico Biagi, Luigi Biagiotti, Simone Silenzi","submitted_at":"2026-07-20T11:30:03Z","abstract_excerpt":"Collaborative robots are increasingly sharing workspaces with human operators, making tool handover a frequent and safety-critical micro-interaction. However, traditional static handovers often lead to awkward grasps when handling asymmetric industrial tools. This paper presents a receiver-centered voice-driven adaptive handover system for mechanical tools, built on a Franka cobot. Using an LLM for intention recognition and MediaPipe for real-time 3D hand tracking, the framework dynamically adjusts the end-effector's orientation to present tools in an ergonomically optimal, handle-first pose. "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.17839","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.17839/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"2607.17839","created_at":"2026-07-21T02:22:02.727425+00:00"},{"alias_kind":"arxiv_version","alias_value":"2607.17839v1","created_at":"2026-07-21T02:22:02.727425+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.17839","created_at":"2026-07-21T02:22:02.727425+00:00"},{"alias_kind":"pith_short_12","alias_value":"M7SNRD4XETIQ","created_at":"2026-07-21T02:22:02.727425+00:00"},{"alias_kind":"pith_short_16","alias_value":"M7SNRD4XETIQ4EKH","created_at":"2026-07-21T02:22:02.727425+00:00"},{"alias_kind":"pith_short_8","alias_value":"M7SNRD4X","created_at":"2026-07-21T02:22:02.727425+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/M7SNRD4XETIQ4EKHD3IAJTQ67F","json":"https://pith.science/pith/M7SNRD4XETIQ4EKHD3IAJTQ67F.json","graph_json":"https://pith.science/api/pith-number/M7SNRD4XETIQ4EKHD3IAJTQ67F/graph.json","events_json":"https://pith.science/api/pith-number/M7SNRD4XETIQ4EKHD3IAJTQ67F/events.json","paper":"https://pith.science/paper/M7SNRD4X"},"agent_actions":{"view_html":"https://pith.science/pith/M7SNRD4XETIQ4EKHD3IAJTQ67F","download_json":"https://pith.science/pith/M7SNRD4XETIQ4EKHD3IAJTQ67F.json","view_paper":"https://pith.science/paper/M7SNRD4X","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2607.17839&json=true","fetch_graph":"https://pith.science/api/pith-number/M7SNRD4XETIQ4EKHD3IAJTQ67F/graph.json","fetch_events":"https://pith.science/api/pith-number/M7SNRD4XETIQ4EKHD3IAJTQ67F/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/M7SNRD4XETIQ4EKHD3IAJTQ67F/action/timestamp_anchor","attest_storage":"https://pith.science/pith/M7SNRD4XETIQ4EKHD3IAJTQ67F/action/storage_attestation","attest_author":"https://pith.science/pith/M7SNRD4XETIQ4EKHD3IAJTQ67F/action/author_attestation","sign_citation":"https://pith.science/pith/M7SNRD4XETIQ4EKHD3IAJTQ67F/action/citation_signature","submit_replication":"https://pith.science/pith/M7SNRD4XETIQ4EKHD3IAJTQ67F/action/replication_record"}},"created_at":"2026-07-21T02:22:02.727425+00:00","updated_at":"2026-07-21T02:22:02.727425+00:00"}