Investigation of Effect of Robot Handover Movements on Weight Perception


In human-human object delivery, there are differences in the handlers’ behavior depending on the weight of the object, and the receiver can perceive the difference in the weight of the object. In this study, we investigated whether the difference in weight can be conveyed by changing the robot’s movements during human-robot delivery. We created three types of movements: a receiving movement, a handing movement, and a sideways movement. The experiments showed that the receiving motion conveyed the difference in weight depending on the trajectory of the object. On the other hand, in the handing motion, no weight difference was produced by the trajectory of the robot, but the angle of the arm holding the package was used to convey a sense of weight.

2024 JSME Conference on Robotics and Mechatronics (ROBOMECH2024)