{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:06:14Z","timestamp":1777716374879,"version":"3.51.4"},"reference-count":21,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2013,7,1]],"date-time":"2013-07-01T00:00:00Z","timestamp":1372636800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2013,7]]},"abstract":"<jats:p>In this paper, we present a novel controller for safe, efficient, and intuitive robot-to-human object handovers and a set of experiments to evaluate user responses to the robot\u2019s handover behavior. The controller enables a robot to mimic human behavior by actively regulating the applied grip force according to the measured load force during a handover. We provide an implementation of the controller on a Willow Garage PR2 robot, demonstrating the feasibility of realizing our design on robots with basic sensor\/actuator capabilities. A user study comparing four variations of our controller shows that our design yields both human-like and human-preferred object handovers.<\/jats:p>","DOI":"10.1177\/0278364913488806","type":"journal-article","created":{"date-parts":[[2013,7,11]],"date-time":"2013-07-11T06:08:48Z","timestamp":1373522928000},"page":"971-983","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":68,"title":["A human-inspired object handover controller"],"prefix":"10.1177","volume":"32","author":[{"given":"Wesley P","family":"Chan","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of British Columbia, Canada"}]},{"given":"Chris AC","family":"Parker","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of British Columbia, Canada"}]},{"given":"HF Machiel","family":"Van der Loos","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of British Columbia, Canada"}]},{"given":"Elizabeth A","family":"Croft","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of British Columbia, Canada"}]}],"member":"179","published-online":{"date-parts":[[2013,7,11]]},"reference":[{"key":"bibr1-0278364913488806","unstructured":"ATI Industrial Automation (2012) ATI force\u2013torque sensor \u2013 Mini45. Available at: http:\/\/www.ati-ia.com\/products\/ft\/ft_models.aspx?id=Mini45 (accessed 21 September 2012)."},{"key":"bibr2-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980058"},{"key":"bibr3-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1145\/1957656.1957823"},{"key":"bibr4-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1145\/2157689.2157692"},{"key":"bibr5-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2009.5326254"},{"key":"bibr6-0278364913488806","unstructured":"Croft EA, Chan WP, Parker CAC, (2012) Method and system for releasing an object held by a robotic end effector. Patent application 61\/696,971, USA."},{"key":"bibr7-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1016\/j.apergo.2010.12.005"},{"key":"bibr8-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1109\/MPRV.2010.17"},{"key":"bibr9-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2007.4415256"},{"key":"bibr10-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-02577-8_34"},{"key":"bibr11-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2008.09.031"},{"key":"bibr12-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2008.4600651"},{"key":"bibr13-0278364913488806","first-page":"449","volume-title":"Proceedings of the 6th international conference on human\u2013robot interaction","author":"IEEE","year":"2011"},{"key":"bibr14-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1007\/BF00237997"},{"key":"bibr15-0278364913488806","first-page":"18","volume-title":"Proceedings of AAAI spring symposium: multidisciplinary collaboration for socially assistive robotics","author":"Koay K","year":"2007"},{"key":"bibr16-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-004-2157-x"},{"key":"bibr17-0278364913488806","unstructured":"McDonald JH (2002) Handbook of biological statistics 2nd ed. Baltimore, MD: Sparky House Publishing. Available at: http:\/\/udel.edu\/~mcdonald\/statintro.html."},{"key":"bibr18-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1998.727283"},{"key":"bibr19-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.1997.625724"},{"key":"bibr20-0278364913488806","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2012.VIII.056"},{"key":"bibr21-0278364913488806","doi-asserted-by":"publisher","DOI":"10.1145\/1518701.1518919"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364913488806","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364913488806","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:18:11Z","timestamp":1777457891000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364913488806"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,7]]},"references-count":21,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2013,7]]}},"alternative-id":["10.1177\/0278364913488806"],"URL":"https:\/\/doi.org\/10.1177\/0278364913488806","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,7]]}}}