Experimental testing of the CogLaboration prototype system for fluent Human-Robot object handover interactions

This article presents the design and execution of the experiments used to develop and evaluate a robot prototype system for fluent Human-Robot object handover interactions. A key aspect of our experimental methodology is the deep integration between Human-Robot and Human-Human object handover experiments. This provides a solid baseline and knowledge base for the prototype evaluation, both in terms of movement dynamics and in subjective user evaluation.