Paper ID: 2311.13021

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

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

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.

Submitted: Nov 21, 2023