Receiver-Centered Robot-to-Human Handover with Grasp-Aware Object Orientation

• URL: http://arxiv.org/abs/2607.17839v1
• Date: Mon, 20 Jul 2026 11:30:03 GMT
• Title: Receiver-Centered Robot-to-Human Handover with Grasp-Aware Object Orientation
• Abstract summary: Collaborative robots are increasingly sharing workspaces with human operators.<n>Traditional static handovers often lead to awkward grasps when handling asymmetric industrial tools.<n>This paper presents a receiver-centered voice-driven adaptive handover system for mechanical tools, built on a Franka cobot.
• Score: 0.27998963147546146
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: Collaborative robots are increasingly sharing workspaces with human operators, making tool handover a frequent and safety-critical micro-interaction. However, traditional static handovers often lead to awkward grasps when handling asymmetric industrial tools. This paper presents a receiver-centered voice-driven adaptive handover system for mechanical tools, built on a Franka cobot. Using an LLM for intention recognition and MediaPipe for real-time 3D hand tracking, the framework dynamically adjusts the end-effector's orientation to present tools in an ergonomically optimal, handle-first pose. A within-subjects study compared this adaptive approach with an object-agnostic static baseline. The results demonstrate that the adaptive system reduces the grasp delay for asymmetric tools, improving the fluency of the interaction. Furthermore, the adaptive strategy improved specific trust-related perceptions, particularly motion predictability and perceived task simplicity.

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