title: Human hand-over behaviour benchmarks for human-robot object exchange abstract: This talk will cover: 1) previous study of hand-over - Endo et al focussed on stable joint grip as passer decreases, the receiver increases grip 2) Coglab studies - focus on variety of object shapes - so grip/load measures difficult. 3) 2 scenarios. (i) Garage mechanic (standing, bending over, lying) (ii) domestic/elderly (standing/seated) 4) Objects (i) hammer, saw etc (ii) glasses case, mug, remote control etc 5) Measures focus on (i) hand position (marker on wrist) in moving to hand-over location, (ii) receiver hand posture in taking hold of object, (iii) motion of object in joint grip phase 6) Results: Examples - effects of object, posture, age, effects of posture. 7) Conclusions for benchmarking