{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,17]],"date-time":"2026-10-17T16:22:15Z","timestamp":1792254135615,"version":"4.4.0"},"reference-count":93,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2025,12,27]],"date-time":"2025-12-27T00:00:00Z","timestamp":1766793600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>We presented a biomimetic approach to designing robot-to-human handover of objects in a collaborative assembly task. We developed a human\u2013robot hybrid cell where a human and a robot collaborated with each other to perform the assembly operations of a product in a flexible manufacturing setup. Firstly, we investigated human psychology and biomechanics (kinetics and kinematics) for human-to-robot handover of an object in the human\u2013robot collaborative set-up in three separate experimental conditions: (i) human possessed high trust in the robot, (ii) human possessed moderate trust in the robot, and (iii) human possessed low trust in the robot. The results showed that human psychology was significantly impacted by human trust in the robot, which also impacted the biomechanics of human-to-robot handover, i.e., human hand movement slowed down, the angle between human hand and robot arm increased (formed a braced handover configuration), and human grip forces increased if human trust in the robot decreased, and vice versa. Secondly, being inspired by those empirical results related to human psychology and biomechanics, we proposed a novel robot-to-human object handover mechanism (strategy). According to the novel handover mechanism, the robot varied its handover configurations and motions through kinematic redundancy with the aim of reducing potential impulse forces on the human body through the object during the handover when robot trust in the human was low. We implemented the proposed robot-to-human handover mechanism in the human\u2013robot collaborative assembly task in the hybrid cell. The experimental evaluation results showed significant improvements in human\u2013robot interaction (HRI) in terms of transparency, naturalness, engagement, cooperation, cognitive workload, and human trust in the robot, and in overall performance in terms of handover safety, handover success rate, and assembly efficiency. The results can help design and develop human\u2013robot handover mechanisms for human\u2013robot collaborative tasks in various applications such as industrial manufacturing and manipulation, medical surgery, warehouse, transport, logistics, construction, machine shops, goods delivery, etc.<\/jats:p>","DOI":"10.3390\/biomimetics11010014","type":"journal-article","created":{"date-parts":[[2025,12,28]],"date-time":"2025-12-28T23:54:36Z","timestamp":1766966076000},"page":"14","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Biomimetic Approach to Designing Trust-Based Robot-to-Human Object Handover in a Collaborative Assembly Task"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5415-9912","authenticated-orcid":false,"given":"S. M. Mizanoor","family":"Rahman","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, The Pennsylvania State University, 120 Ridge View Drive, Dunmore, PA 18512, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,12,27]]},"reference":[{"key":"ref_1","unstructured":"Burghart, C., Yigit, S., Kerpa, O., Osswald, D., and Woern, H. (2002). Concept for human-robot cooperation integrating artificial haptic perception. Intelligent Autonomous Systems, IOS Press. Chapter 7."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Ding, H., Heyn, J., Matthias, B., and Staab, H. (2013, January 17\u201321). Structured collaborative behavior of industrial robots in mixed human-robot environments. 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