Grip forces when passing an object to a partner

Abstract

The goal of the present study was to investigate how grip forces are applied when transferring stable control of an object from one person to another. We asked how grip forces would be modified by the passer to (1) control for inertial forces as the object was transported toward the receiver and (2) control for the impending perturbation when the receiver made contact with the object. Twelve volunteers worked in pairs during this experiment. One partner, playing the role of passer, transported an object with embedded load cells forward or held the object at an interception location. The second partner, playing the role of receiver, waited at an interception location or reached toward the passed object. Kinematic results indicated that while passers performed a stereotypical movement, receivers were sensitive to the motion of the object as they reached to make contact. Grip force results indicated that passers' grip forces and grip/load force ratios were variable on a trial-to-trial basis, suggesting that a refined internal model of the passing task was not achieved within the timeframe of the experiment. Furthermore, a decoupling of the temporal and magnitude characteristics of the grip and inertial forces was noted in conditions where passers transported the object toward the receiver. During object transfer, it was noted that passers used visual feedback-based anticipatory control to precisely time initial grip force release, while somatosensory control was used by both the passer and receiver to precisely coordinate transfer rate.

Modeling Prehension for Physical Collaboration in Virtual Environments

“…We found that the passer began releasing their grasp before the receiver completed the acquisition (see Figure 3[h]). This degree of precision and tight synchronization between two strangers has been previously documented as well (Mason & C. L. MacKenzie, 2005). It is also worth noting that despite the limited visual cues and high accuracy and precision demands of this passing task, through the 1,080 trials performed in this experiment, not a single block was dropped.…”

“…Huber et al (2008) also demonstrated the first pattern described by Shibata, with the passer arriving first and assuming a near stationary state. Finally, Mason and C. L. MacKenzie (2005) studied the object-transfer phase of passing tasks by measuring grip forces. They found varying patterns of force production by pairs at object contact.…”

Human preferences for robot-human hand-over configurations

“…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.…”

Sensing techniques for tablet+stylus interaction

“…We also observed passing prehension [33] when participants passed the pen and tablet back to the experimenter. Users tended to hold the device securely, in more of a power grip, and extended it from their body while keeping it level, so that their intent was clear and so that the other person could grab it from the far side.…”

“…We explored one final interaction, that of passing a tablet to another user as a way to offer an alternative, more physical semantic of sharing content with another user [18], much as observed during device micro-mobility [29,32]. Studies of passing prehension [33] and our observations (B12) indicate a characteristic sequence of motions. A user extends the object to offer it, while holding it level.…”