A Human-Inspired Control Strategy: A Framework for Seamless Human-Robot Handovers

It can be claimed that understanding kinematically and dynamically how two humans physically collaborate while naturally performing object handover tasks is so crucial and can be used as guidelines in seamless human-robot interaction. This paper investigates the human behavioural responses in human-to-human object handover tasks under changing the object’s mass, in which the interactive force between the humans and the object displacement are simultaneously measured in real-time. The results contribute the handover sequences distinctively categorized into three phases, i.e. sending, transfer and receiving postures, where the giver agent primarily decides to release the object. The interactive force analysis and the suitable transfer point between the giver and receiver have been carried out. Additionally, to be a better understanding of human dynamic characteristics, MJT and ARX model have been mathematically implemented. These paradigm findings will be useful for developing a robotic behaviour-based approach in seamless human-robot handovers in future.