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

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. O...

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Bibliographic Details
Published inarXiv.org
Main Authors Morissette, Charlotte, Baghi, Bobak H, Hogan, Francois R, Dudek, Gregory
Format Paper
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 21.11.2023
Subjects
Robots
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Summary: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.
ISSN:2331-8422