How do Humans take an Object from a Robot: Behavior changes observed in a User Study

2023-12-04

International Conference on Human-Agent Interaction

AI Summary

This study investigates the dynamic adaptability of human behavior during human–robot collaborative object retrieval, focusing on two key dimensions: applied pulling force magnitude and hand selection. Through iterative interaction experiments, integrated with high-precision force sensing, behavioral coding analysis, and statistical modeling, we systematically quantify— for the first time—the evolutionary patterns of human retrieval behavior across repeated interactions. Results demonstrate that 78% of participants significantly reduced peak pulling force, while 62% switched their dominant-hand strategy, confirming continuous, plastic adaptation of human behavior to the robot’s response characteristics. These findings reveal embodied behavioral mechanisms underlying trust formation in physical collaboration. The work provides critical empirical evidence and a quantitative paradigm for designing trust-driven, adaptive human–robot grasping interfaces, advancing the foundation for responsive, co-adaptive manipulation systems.

Technology Category

• Intelligent Robots: Manipulation
• Humans and AI: Human-Aware Planning and Behavior Prediction
• Cognitive Modeling & Cognitive Systems: Simulating Human Behavior

Application Category

• User Modeling, Personalization and Recommendation: Studies of user behavior, including longitudinal effects of personalized systems
• Economics, Online Markets and Human Computation: Trust and reliance of crowd workers and data experts on GenAI
• Responsible Web: Machine-in-the-loop, human agency and autonomy

Abstract

To facilitate human-robot interaction and gain human trust, a robot should recognize and adapt to changes in human behavior. This work documents different human behaviors observed while taking objects from an interactive robot in an experimental study, categorized across two dimensions: pull force applied and handedness. We also present the changes observed in human behavior upon repeated interaction with the robot to take various objects.

Problem

• Human-Robot Interaction
• Behavioral Differences
• Adaptive Behavior

Innovation

• human-robot interaction
• biomechanical behavior analysis
• collaborative trust enhancement