With an increasing interest in human-robot collaboration, there is a need to develop robot behavior while keeping the human user's preferences in mind. Highly skilled human users doing delicate tasks require their robot partners to behave according to their work habits and task constraints. To achieve this, we present the use of the Optometrist's Algorithm (OA) to interactively and intuitively personalize robot-human handovers. Using this algorithm, we tune controller parameters for speed, location, and effort. We study the differences in the fluency of the handovers before and after tuning and the subjective perception of this process in a study of $N=30$ non-expert users of mixed background -- evaluating the OA. The users evaluate the interaction on trust, safety, and workload scales, amongst other measures. They assess our tuning process to be engaging and easy to use. Personalization leads to an increase in the fluency of the interaction. Our participants utilize the wide range of parameters ending up with their unique personalized handover.

翻译：随着人机协作兴趣的日益增长，需要在开发机器人行为时考虑人类用户的偏好。执行精细任务的高技能人类用户要求其机器人合作伙伴根据他们的工作习惯和任务约束来行动。为此，我们提出使用验光师算法(OA)以交互式和直观的方式个性化人机交接。利用该算法，我们调整了速度、位置和努力程度的控制器参数。我们在$N=30$名混合背景的非专家用户研究中，研究了调整前后交接流畅性的差异以及用户对该过程的主观感知——评估OA。用户在信任、安全和工作负荷等量表上评估交互。他们认为我们的调整过程具有吸引力且易于使用。个性化导致交互流畅性提升。我们的参与者利用了广泛的参数范围，最终获得他们独特的个性化交接方式。