Experimental analysis of handing over

This paper examines the motions of handing an object over on the plane are investigated experimentally. Hander and receiver generate smooth motions of handing over by adjusting his/her kinematic features to the other. This adjustment is important and needs to be analyzed. The relative movement of both hands is also interesting and are analyzed from the view point of applying the results in robot motions. Moreover, the effect of direction, of the movement, which changes the trajectory of the motions is analyzed finally. Experimental results show that the hand path of the hander is straight and the velocity pattern of the hand is bell-shaped whose velocity peak is located in a little before the middle of the duration, which is similar to the positioning motion of humans. The two representative patterns of trajectory are observed on the motion of the receiver from the view point of the velocity pattern.