Object handover is a fundamental task for collaborative robots, particularly service robots. In in-home assistance scenarios, individuals often face constraints due to their posture and declining physical functions, necessitating high demands on robots for flexible real-time control and intuitive interactions. During robot-to-human handovers, individuals are limited to making perceptual judgements based on the appearance of the object and the consistent behaviour of the robot. This hinders their comprehensive perception and may lead to unexpected dangerous behaviour. Various handover trajectories pose challenges to predictive robot control and motion coordination. Many studies have shown that force guidance can provide adequate information to the receivers. However, force modulation with intention judgements based on velocity, acceleration, or jerk may impede the intended motion and require additional effort. In this paper, starting from a human-to-human handover study, an anisotropic variable force-guided robot-to-human handover control method is proposed to overcome the cognition-reality gap. The retraction motion was decoupled based on a fitted motion plane and a task-related linear trajectory, which served as a reference for overshoot suppression and impedance force modulation. The experimental results and user surveys show that the anisotropic variable impedance force suppresses overshooting without impeding the intended motions, giving the receiver sufficient time for behavioural adjustments and assisting them in completing a safe and efficient handover in a preferred manner.

中文翻译：

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通过各向异性变力引导克服机器人与人类交接中的认知与现实差距

对象切换是协作机器人，特别是服务机器人的一项基本任务。在家庭辅助场景中，个人往往因姿势和身体机能下降而受到限制，对机器人灵活的实时控制和直观的交互提出了很高的要求。在机器人与人类的交接过程中，个人只能根据物体的外观和机器人的一致行为做出感知判断。这阻碍了他们的全面感知，并可能导致意想不到的危险行为。各种切换轨迹对机器人的预测控制和运动协调提出了挑战。许多研究表明，力制导可以为接收者提供足够的信息。然而，基于速度、加速度或急动度的意图判断的力调制可能会阻碍预期的运动并且需要额外的努力。本文从人与人的切换研究出发，提出了一种各向异性变力引导的机器人与人的切换控制方法，以克服认知与现实的差距。基于拟合的运动平面和与任务相关的线性轨迹对回缩运动进行解耦，作为超调抑制和阻抗力调制的参考。实验结果和用户调查表明，各向异性可变阻抗力在不妨碍预期运动的情况下抑制超调，为接收者提供了足够的时间进行行为调整，并协助他们以优选的方式完成安全高效的切换。