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The classifier uses the giver\u2019s kinematic behaviors (e.g. joint angles, distances of joints from each other and with respect to the receiver) to determine a giver\u2019s intent to hand over an object. We used a bagged random forest to determine how informative features were in predicting the occurrence of handovers, and to assist in selecting a core set of features to be used by the classifier. Altogether, 22 kinematic features were chosen for developing handover detection models and later testing of generalization performance. Test results indicated an overall maximum accuracy of 97.5% by the SVM in its capacity to distinguish between handover and non-handover motions. The classification ability of the SVM was found to be unaffected across four kernel functions (linear, quadratic, cubic and radial basis). These results demonstrate considerable potential for detection of handovers and other gestures for human\u2013robot interaction using kinematic features. <\/jats:p>","DOI":"10.1177\/0278364917692865","type":"journal-article","created":{"date-parts":[[2017,2,28]],"date-time":"2017-02-28T06:55:05Z","timestamp":1488264905000},"page":"721-738","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":20,"title":["Automated detection of handovers using kinematic features"],"prefix":"10.1177","volume":"36","author":[{"given":"Matthew KXJ","family":"Pan","sequence":"first","affiliation":[{"name":"University of British Columbia, Vancouver, Canada"}]},{"given":"Vidar","family":"Skjerv\u00f8y","sequence":"additional","affiliation":[{"name":"University of Glasgow, Glasgow, UK"}]},{"given":"Wesley P","family":"Chan","sequence":"additional","affiliation":[{"name":"University of Tokyo, Tokyo, Japan"}]},{"given":"Masayuki","family":"Inaba","sequence":"additional","affiliation":[{"name":"University of Tokyo, Tokyo, Japan"}]},{"given":"Elizabeth A","family":"Croft","sequence":"additional","affiliation":[{"name":"University of British Columbia, Vancouver, Canada"}]}],"member":"179","published-online":{"date-parts":[[2017,2,1]]},"reference":[{"key":"bibr1-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-10403-9_16"},{"key":"bibr2-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2004.05.002"},{"key":"bibr3-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-60327-241-4_13"},{"key":"bibr4-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1145\/307400.307439"},{"key":"bibr5-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1023\/A:1010933404324"},{"key":"bibr6-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1145\/2157689.2157692"},{"key":"bibr7-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353106"},{"key":"bibr8-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1145\/1961189.1961199"},{"key":"bibr9-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-35488-8_13"},{"key":"bibr10-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2011.2161140"},{"key":"bibr11-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2007.4415256"},{"key":"bibr12-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2010.09.031"},{"key":"bibr13-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2010.5598638"},{"key":"bibr14-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697021"},{"volume-title":"The Hidden Dimension","year":"1990","author":"Hall ET","key":"bibr15-0278364917692865"},{"key":"bibr16-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.907483"},{"key":"bibr17-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1109\/ICCAS.2015.7364671"},{"key":"bibr18-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1109\/IIH-MSP.2009.96"},{"key":"bibr19-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1111\/j.1749-6632.2008.03743.x"},{"key":"bibr20-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.525796"},{"key":"bibr21-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.1992.253888"},{"key":"bibr22-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1023\/A:1022859003006"},{"key":"bibr23-0278364917692865","doi-asserted-by":"publisher","DOI":"10.1109\/AFGR.2002.1004148"},{"key":"#cr-split#-bibr24-0278364917692865.1","doi-asserted-by":"crossref","unstructured":"Manap HH, Tahir NM, Abdullah R (2013) Performance comparison of parkinsonian gait based on principal component analysis. 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