An Experimental Validation and Comparison of Reaching Motion Models for Unconstrained Handovers: Towards Generating Humanlike Motions for Human-Robot Handovers

The Minimum Jerk motion model has long been cited in literature for human point-to-point reaching motions in single-person tasks. While it has been demonstrated that applying minimum-jerk-like trajectories to robot reaching motions in the joint action task of human-robot handovers allows a robot giver to be perceived as more careful, safe, and skilled, it has not been verified whether human reachi...