Robot-human handover based on position and posture of human hand

This paper deals with a robot-human handover with the hand/arm robot. Handing over objects to humans is an important motion for assistant robots. In the robot-human handover, the robot has to observe the human motion and make a motion for handover without disturbing human´s works. Therefore, we propose a handover motion for the hand/arm robot according to the position and posture of human hand. The robot measures the position and posture of human hand by the Leap Motion controller and moves upward from the palm of human hand.