Experimental analysis of handing over

Shibata, Satoru; Tanaka, Kanya; Shimizu, Akira

doi:10.1109/roman.1995.531934

Cited by 39 publications

(31 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Handovers between two humans have been studied in the literature with an eye towards implications for robot-human handovers. Trajectories and velocity profiles adopted by humans both in the role of giver and receiver are analyzed in (Shibata, Tanaka, & Shimizu, 1995). Simulation results for a controller that mimics the characteristics of human handovers are presented in (Kajikawa, Okino, Ohba, & Inooka, 1995).…”

Section: Studies Of Human-human Handoversmentioning

confidence: 99%

“…Reaching: (Flash & Hogan, 1985) found that human hand trajectories often follow a minimum-jerk profile. (Shibata et al, 1995) analyzed the hand trajectories of givers and receivers during handovers. ) observed seated humans handing over objects to one another and came up with a novel trajectory generator based on a decoupled minimum-jerk profile that reproduces the reaching motions of the humans and performs similarly to the minimum-jerk profile.…”

Section: The Physical Channelmentioning

confidence: 99%

See 1 more Smart Citation

Towards Seamless Human-Robot Handovers

Strabala

Lee

Dragan

et al. 2013

JHRI

219

147

View full text Add to dashboard Cite

A handover is a complex collaboration, where actors coordinate in time and space to transfer control of an object. This coordination comprises two processes: the physical process of moving to get close enough to transfer the object, and the cognitive process of exchanging information to guide the transfer. Despite this complexity, we humans are capable of performing handovers seamlessly in a wide variety of situations, even when unexpected. This suggests a common procedure that guides all handover interactions. Our goal is to codify that procedure. To that end, we first study how people hand objects to each other in order to understand their coordination process and the signals and cues that they use and observe with their partners. Based on these studies, we propose a coordination structure for human-robot handovers that considers the physical and social-cognitive aspects of the interaction separately. This handover structure describes how people approach, reach out their hands, and transfer objects while simultaneously coordinating the what, when, and where of handovers: to agree that the handover will happen (and with what object), to establish the timing of the handover, and to decide the configuration at which the handover will occur. We experimentally evaluate human-robot handover behaviors that exploit this structure, and offer design implications for seamless human-robot handover interactions.

show abstract

Section: Studies Of Human-human Handoversmentioning

confidence: 99%

Section: The Physical Channelmentioning

confidence: 99%

Towards Seamless Human-Robot Handovers

Strabala

Lee

Dragan

et al. 2013

JHRI

219

147

View full text Add to dashboard Cite

show abstract

“…In particular, in [22,26] force control has been introduced to determine grasping conditions. Shibata et al [32] analyzed the characteristics of object handover tasks between humans on a desk plane and modeled the hand trajectories using the minimum jerk model. The dual task of human to robot object delivery has also been studied in previous works.…”

Section: Related Workmentioning

confidence: 99%

An Affordance Sensitive System for Robot to Human Object Handover

Aleotti

Micelli

Caselli

2014

Int J of Soc Robotics

View full text Add to dashboard Cite

One of the most important characteristics that needs to be taken into account while designing advanced human-robot interaction systems is the ability of the robot to behave in a socially acceptable way that is comfortable for humans. This paper presents a novel system for robot to human object handover that maximizes user's convenience while receiving the object. The object is delivered to the receiving partner such that the most appropriate part is oriented towards him/her. The system has been developed supporting all the necessary phases of the handover task, including object recognition, people detection, robot motion planning, and automatic detection of user's grasp. Moreover, voice recognition and text-to-speech have been integrated to enable natural object selection in environments that include multiple objects. The experimental setup consists of a six degree of freedom robot arm equipped with a two-finger gripper and an eye-in-hand laser scanner for object recognition, as well as a fixed range sensor for people and grasp detection. A user study has been conducted to assess the usability of the system and verify whether novice users can successfully accomplish a handover task with the system. The user study has confirmed that the proposed solution allows a more comfortable handover than a system disregarding object orientation.

show abstract

“…Different aspects of hand-overs between humans have been studied in the literature. This includes grip forced applied by humans during hand-overs [14], trajectories and velocity profiles adopted by humans both in the role of giver and receiver [16], and the social modification of the instrumental movement of pick-and-place in the context of hand-overs [3]. While these studies have interesting implications on humanrobot hand-overs, there is not much evidence suggesting that approaches that will work best for human-robot hand-overs are the ones adopted during human-human hand-overs.…”

Section: Introductionmentioning

confidence: 99%

Human preferences for robot-human hand-over configurations

Cakmak¹,

Srinivasa²,

Lee³

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Abstract-Handing over objects to humans is an essential capability for assistive robots. While there are infinite ways to hand an object, robots should be able to choose the one that is best for the human. In this paper we focus on choosing the robot and object configuration at which the transfer of the object occurs, i.e. the hand-over configuration. We advocate the incorporation of user preferences in choosing hand-over configurations. We present a user study in which we collect data on human preferences and a human-robot interaction experiment in which we compare hand-over configurations learned from human examples against configurations planned using a kinematic model of the human. We find that the learned configurations are preferred in terms of several criteria, however planned configurations provide better reachability. Additionally, we find that humans prefer hand-overs with default orientations of objects and we identify several latent variables about the robot's arm that capture significant human preferences. These findings point towards planners that can generate not only optimal but also preferable hand-over configurations for novel objects.

show abstract

Experimental analysis of handing over

Cited by 39 publications

References 6 publications

Towards Seamless Human-Robot Handovers

Towards Seamless Human-Robot Handovers

An Affordance Sensitive System for Robot to Human Object Handover

Human preferences for robot-human hand-over configurations

Contact Info

Product

Resources

About