We study human-robot handovers in a naturalistic collaboration scenario, where a mobile manipulator robot assists a person during a crafting session by providing and retrieving objects used for wooden piece assembly (functional activities) and painting (creative activities). We collect quantitative and qualitative data from 20 participants in a Wizard-of-Oz study, generating the Functional And Creative Tasks Human-Robot Collaboration dataset (the FACT HRC dataset), available to the research community. This work illustrates how social cues and task context inform the temporal-spatial coordination in human-robot handovers, and how human-robot collaboration is shaped by and in turn influences people's functional and creative activities.

翻译：我们在一个自然主义的协作场景中研究了人机交接，其中移动操作机器人在手工制作过程中协助人类，提供和回收用于木质零件组装（功能性活动）和绘画（创造性活动）的物体。我们通过Wizard-of-Oz研究收集了20名参与者的定量和定性数据，生成了功能性与创造性任务人机协作数据集（FACT HRC数据集），该数据集可供研究社区使用。这项工作展示了社会线索和任务背景如何影响人机交接中的时空协调，以及人机协作如何被塑造并反过来影响人们的功能性和创造性活动。