How do Humans take an Object from a Robot: Behavior changes observed in a User Study

TL;DR

This study observes how human behaviors change when interacting with a robot over time, focusing on pull force and handedness, to improve robot recognition and adaptation in human-robot interactions.

Contribution

It categorizes human behaviors during object transfer from a robot and documents behavioral changes with repeated interactions, aiding robot adaptation strategies.

Findings

Behavior varies with pull force and handedness.

Repeated interactions lead to observable behavioral changes.

Insights can improve robot recognition and adaptation.

Abstract

To facilitate human-robot interaction and gain human trust, a robot should recognize and adapt to changes in human behavior. This work documents different human behaviors observed while taking objects from an interactive robot in an experimental study, categorized across two dimensions: pull force applied and handedness. We also present the changes observed in human behavior upon repeated interaction with the robot to take various objects.