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arXiv · 2303.16009

Data-driven Grip Force Variation in Robot-Human Handovers

Parag Khanna·Mårten Björkman·Christian Smith
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Abstract

Handovers frequently occur in our social environments, making it imperative for a collaborative robotic system to master the skill of handover. In this work, we aim to investigate the relationship between the grip force variation for a human giver and the sensed interaction force-torque in human-human handovers, utilizing a data-driven approach. A Long-Short Term Memory (LSTM) network was trained to use the interaction force-torque in a handover to predict the human grip force variation in advance. Further, we propose to utilize the trained network to cause human-like grip force variation for a robotic giver.

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Parag Khanna, Mårten Björkman, Christian Smith. 2023-03-28. Data-driven Grip Force Variation in Robot-Human Handovers. https://arxiv.org/abs/2303.16009

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