# Givers & Receivers perceive handover tasks differently: Implications for Human-Robot collaborative system design

arXiv: https://arxiv.org/abs/1708.06207 · HTML: https://mlsanity.com/paper/1708.06207/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 Aug 2017.

## Built on by (most cited first, 1 of 1)

- [3HANDS Dataset: Learning from Humans for Generating Naturalistic Handovers with Supernumerary Robotic Limbs](https://mlsanity.com/paper/2503.04635/) (2025)

## Abstract (arXiv)

Human-human joint-action in short-cycle repetitive handover tasks was investigated for a bottle handover task using a three-fold approach: work-methods field studies in multiple supermarkets, simulation analysis using an ergonomics software package and by conducting an in-house lab experiment on human-human collaboration by re-creating the environment and conditions of a supermarket. Evaluation included both objective and subjective measures. Subjective evaluation was done taking a psychological perspective and showcases among other things, the differences in the way a common joint-action is being perceived by individual team partners depending upon their role (giver or receiver). The proposed approach can provide a systematic method to analyze similar tasks. Combining the results of all the three analyses, this research gives insight into the science of joint-action for short-cycle repetitive tasks and its implications for human-robot collaborative system design.