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.
@article{arxiv.2311.13021,
title = {A Study of Human-Robot Handover through Human-Human Object Transfer},
author = {Charlotte Morissette and Bobak H. Baghi and Francois R. Hogan and Gregory Dudek},
journal= {arXiv preprint arXiv:2311.13021},
year = {2023}
}
Comments
8 pages, 5 figures, appeared in NeurIPS 2022 Workshop on Human in the Loop Learning