A robot hand-over control scheme for human-like haptic interaction

A robot hand-over control scheme is proposed achieving human-like haptic interaction during object load transfer from a giver to a receiver hand for the planar case. It is assumed that the object has parallel surfaces and unknown mass. The giver initiates the hand-over process while the receiver estimates the transferred object mass adapting its grip force accordingly in a three stage process. The control laws are based on a dynamically stable grasp controller which is modified for the hand-over task. A stable load transfer is securely achieved as shown by the theoretical analysis and illustrated by the simulation results.