Grip-force modulation in human-to-human object handovers: effects of sensory and kinematic manipulations

Abstract

From a motor control perspective, human-to-human object handovers can be described as coordinated joint-actions transferring the power over an object from a passer to a receiver. Although, human-to-human handovers are very reliable in terms of success, it is unclear how both actors plan and execute their actions independently while taking into account the partners behaviour. Here, we measured grip-forces of passer and receiver while handing over an object. In order to study mutual interaction in human-to-human handovers, we measured how changes in relevant features (sensory information available to the passer and receiver’s reaching velocity) in one partner affect grip-force profiles not only at the manipulated side but also at the partner’s side. The data reveals strong effects of sensory manipulations on time-related (duration and release delay) and dynamometric measures (force rates). Variation of reaching velocities had the largest impact on the receiver’s force rates. Furthermore, there are first indications that the vertical object movement is used as an implicit cue to signal the start of the handover in situations where vision is restricted.

A systematic review of handover actions in human dyads

“…After removing duplicates ( n = 3,639 removed) and after title and abstract screening ( n = 5,435 removed), the full text of 18 studies were scanned and 10 studies were found to meet our eligibility criteria [ n = 8 removed: no active handover = 4 ( Salleh et al, 2011 ; Parastegari et al, 2018 ; Kato et al, 2019 ; Neranon, 2020 ), non-relevant outcome = 2 ( Korkiakangas et al, 2014 ; Carfì et al, 2019 ), no human kinematic or force data = 2 ( Xie and Zhao, 2015 ; Chan et al, 2020 )]. Thus, we included 10 studies in our systematic review that investigated the characteristics of human-human handover actions and their influencing factors, such as the handover object weight and availability of sensory information ( Mason and Mackenzie, 2005 ; Becchio et al, 2008 ; Gonzalez et al, 2011 ; Meyer et al, 2013 ; Hansen et al, 2017 ; Controzzi et al, 2018 ; Bekemeier et al, 2019 ; Cini et al, 2019 ; Döhring et al, 2020 ; Sutiphotinun et al, 2020 ). See Figure 1 for a comprehensive flowchart of our search process.…”

“…In the other two studies, the roles were permanently assigned ( Cini et al, 2019 ; Sutiphotinun et al, 2020 ). In the remaining five studies, the experimenter took the role of the receiver and the subjects were only assigned the role of the giver ( Becchio et al, 2008 ; Gonzalez et al, 2011 ; Meyer et al, 2013 ; Controzzi et al, 2018 ; Döhring et al, 2020 ). All included studies were conducted using a within-subjects design ( Mason and Mackenzie, 2005 ; Becchio et al, 2008 ; Gonzalez et al, 2011 ; Meyer et al, 2013 ; Hansen et al, 2017 ; Controzzi et al, 2018 ; Bekemeier et al, 2019 ; Cini et al, 2019 ; Döhring et al, 2020 ; Sutiphotinun et al, 2020 ), although Meyer et al (2013) also used a between-subjects design.…”

“…Across the remaining studies, the gender distribution was relatively balanced with 55% female and 45% male participants. The age reported in the individual studies ranged from 18 to 32 years ( Mason and Mackenzie, 2005 ; Becchio et al, 2008 ; Gonzalez et al, 2011 ; Hansen et al, 2017 ; Controzzi et al, 2018 ; Bekemeier et al, 2019 ; Cini et al, 2019 ; Döhring et al, 2020 ), with the exception of one study that also included two subjects over 70-years-old and one subject over 40-years-old ( Bekemeier et al, 2019 ). As the age of the subjects was reported in different ways, it is not possible to determine a mean value across all studies.…”

“…Two studies did not specify the age of their subjects ( Meyer et al, 2013 ; Sutiphotinun et al, 2020 ). In most studies, all the subjects were right-handed ( Mason and Mackenzie, 2005 ; Becchio et al, 2008 ; Hansen et al, 2017 ; Controzzi et al, 2018 ; Cini et al, 2019 ; Döhring et al, 2020 ; Sutiphotinun et al, 2020 ), and only one study also included two left-handed subjects ( Gonzalez et al, 2011 ). Two studies did not report any information about the handedness of the subjects ( Meyer et al, 2013 ; Bekemeier et al, 2019 ).…”

Human Inspired Grip-Release Technique for Robot-Human Handovers

“…The baton was vertically transferred in handovers and a relationship between grip forces and load forces was measured, which was used to develop a controller for robotic grip forces given load forces. In [13], the effect of reaching velocities and sensory manipulations was seen on grip forces in human human handovers. In one of the studied cases, the giver's vision was manipulated by closing the eyes during the handover.…”