Measuring System for Synchronous Recording of Kinematic and Force Data during Handover Action of Human Dyads.

Handover actions are joint actions between two people in which an object is handed over from a giver to a receiver. This necessitates precise coordination and synchronization of both the reach and grasp kinematics and the scaling of grip forces of the actors during the interaction. For this purpose, a measurement object is presented that records the grip forces of both actors on the instrument and allows synchronous measurement of the kinematic data of both actors and the position and orientation of the instrument in space using an optical motion capture system.

Predicting object properties based on movement kinematics.

In order to grasp and transport an object, grip and load forces must be scaled according to the object's properties (such as weight). To select the appropriate grip and load forces, the object weight is estimated based on experience or, in the case of robots, usually by use of image recognition. We propose a new approach that makes a robot's weight estimation less dependent on prior learning and, thereby, allows it to successfully grasp a wider variety of objects.

A systematic review of handover actions in human dyads.

Introduction: Handover actions are joint actions in which an object is passed from one actor to another. In order to carry out a smooth handover action, precise coordination of both actors' movements is of critical importance. This requires the synchronization of both the kinematics of the reaching movement and the grip forces of the two actors during the interaction.