Revealing Gauguin: engaging visitors in robot guide's explanation in an art museum
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
Robotic Home Assistant Care-O-bot® 3 Product Vision and Innovation Platform
Proceedings of the 13th International Conference on Human-Computer Interaction. Part II: Novel Interaction Methods and Techniques
Using spatial and temporal contrast for fluent robot-human hand-overs
Proceedings of the 6th international conference on Human-robot interaction
Deliberate delays during robot-to-human handovers improve compliance with gaze communication
Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
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In this study, we investigate and characterize haptic interaction in human-to-human handovers and identify key features that facilitate safe and efficient object transfer. Eighteen participants worked in pairs and transferred weighted objects to each other while we measured their grip forces and load forces. Our data show that during object transfer, both the giver and receiver employ a similar strategy for controlling their grip forces in response to changes in load forces. In addition, an implicit social contract appears to exist in which the giver is responsible for ensuring object safety in the handover and the receiver is responsible for maintaining the efficiency of the handover. Compared with prior studies, our analysis of experimental data show that there are important differences between the strategies used by humans for both picking up/placing objects on table and that used for handing over objects, indicating the need for specific robot handover strategies as well. The results of this study will be used to develop a controller for enabling robots to perform object handovers with humans safely, efficiently, and intuitively.