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Related Experiment Video

Updated: Jan 28, 2026

Simulation of a Scaled Assembly Process with Collaboration of a Robotic Arm and Monitoring through a Vision System for Quality Control
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Biomimetic Approach to Designing Trust-Based Robot-to-Human Object Handover in a Collaborative Assembly Task.

S M Mizanoor Rahman1

  • 1Department of Mechanical Engineering, The Pennsylvania State University, 120 Ridge View Drive, Dunmore, PA 18512, USA.

Biomimetics (Basel, Switzerland)
|January 27, 2026
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Summary

This study developed a biomimetic robot-to-human object handover strategy. It enhances human-robot interaction (HRI) and safety by adapting robot behavior based on human trust levels in collaborative assembly tasks.

Keywords:
assembly taskbio-inspired robot motion planninghandover biomechanicshuman–robot collaborationhuman–robot interactionkinematic redundancyobject handovertrust

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Area of Science:

  • Robotics
  • Human-Robot Interaction
  • Biomimetics

Background:

  • Collaborative assembly tasks require seamless object handover between humans and robots.
  • Human trust in robots significantly influences human biomechanics and psychology during handover.
  • Existing handover mechanisms often lack adaptability to varying trust levels, impacting interaction quality and safety.

Purpose of the Study:

  • To investigate the impact of human trust on human-robot object handover biomechanics and psychology.
  • To propose and evaluate a novel biomimetic robot-to-human handover mechanism that adapts to human trust.
  • To enhance human-robot interaction (HRI) and overall performance in collaborative assembly.

Main Methods:

  • Investigated human psychology and biomechanics (kinetics, kinematics) under varying trust conditions (high, moderate, low).
  • Developed a novel robot-to-human handover strategy using kinematic redundancy to minimize impulse forces.
  • Implemented and evaluated the proposed mechanism in a human-robot collaborative assembly task within a hybrid cell.

Main Results:

  • Decreased human trust led to slower hand movements, increased hand-arm angles, and higher grip forces.
  • The novel robot handover mechanism significantly improved HRI metrics: transparency, naturalness, engagement, cooperation, cognitive workload, and human trust.
  • Overall performance saw enhancements in handover safety, success rate, and assembly efficiency.

Conclusions:

  • Human trust is a critical factor in designing effective human-robot object handover.
  • The proposed biomimetic handover strategy enhances safety and efficiency in human-robot collaboration.
  • This approach has broad applicability in various industrial and service sectors requiring human-robot cooperation.