In this preliminary study, we investigate changes in handover behaviour when transferring hazardous objects with the help of a high-resolution touch sensor. Participants were asked to hand over a safe and hazardous object (a full cup and an empty cup) while instrumented with a modified STS sensor. Our data shows a clear distinction in the length of handover for the full cup vs the empty one, with the former being slower. Sensor data further suggests a change in tactile behaviour dependent on the object's risk factor. The results of this paper motivate a deeper study of tactile factors which could characterize a risky handover, allowing for safer human-robot interactions in the future.

翻译：在这项初步研究中，我们借助高分辨率触觉传感器探究了传递危险物体时交接行为的变化。参与者被要求传递安全物体（空杯）和危险物体（满杯），并配备经过改进的STS传感器进行实验。数据显示，传递满杯与空杯的交接时长存在明显差异，前者速度更慢。传感器数据进一步表明，触觉行为会随物体的风险系数而改变。本文的研究结果推动了对触觉因素的深入探讨——这些因素可能表征高风险交接过程，从而为未来更安全的人-机器人交互奠定基础。