{"id":"https://openalex.org/W3048615328","doi":"https://doi.org/10.1109/lra.2020.3015692","title":"Robot Gaze Behaviors in Human-to-Robot Handovers","display_name":"Robot Gaze Behaviors in Human-to-Robot Handovers","publication_year":2020,"publication_date":"2020-08-11","ids":{"openalex":"https://openalex.org/W3048615328","doi":"https://doi.org/10.1109/lra.2020.3015692","mag":"3048615328"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3015692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3015692","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058151846","display_name":"Alap Kshirsagar","orcid":"https://orcid.org/0000-0003-3102-4200"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alap Kshirsagar","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, USA"],"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040895453","display_name":"Melanie Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Melanie Lim","raw_affiliation_strings":["Systems Engineering Program, Cornell University, Ithaca, USA"],"affiliations":[{"raw_affiliation_string":"Systems Engineering Program, Cornell University, Ithaca, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049049106","display_name":"Shyaka Alain Christian","orcid":"https://orcid.org/0009-0009-2785-5432"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shemar Christian","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, USA"],"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039553919","display_name":"Guy Hoffman","orcid":"https://orcid.org/0000-0002-0404-6159"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guy Hoffman","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, USA"],"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5058151846"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":3.017,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.91392098,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"5","issue":"4","first_page":"6552","last_page":"6558"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12128","display_name":"AI in Service Interactions","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gaze","display_name":"Gaze","score":0.9029583930969238},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6877854466438293},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5987477898597717},{"id":"https://openalex.org/keywords/handover","display_name":"Handover","score":0.55567467212677},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.549214243888855},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5012872219085693},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4876774549484253},{"id":"https://openalex.org/keywords/nonverbal-communication","display_name":"Nonverbal communication","score":0.46867188811302185},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4618678689002991},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.454177588224411},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.44294145703315735},{"id":"https://openalex.org/keywords/eye-contact","display_name":"Eye contact","score":0.41667911410331726},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3599297106266022},{"id":"https://openalex.org/keywords/communication","display_name":"Communication","score":0.3489070534706116},{"id":"https://openalex.org/keywords/cognitive-psychology","display_name":"Cognitive psychology","score":0.33993738889694214}],"concepts":[{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.9029583930969238},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6877854466438293},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5987477898597717},{"id":"https://openalex.org/C111852164","wikidata":"https://www.wikidata.org/wiki/Q1414679","display_name":"Handover","level":2,"score":0.55567467212677},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.549214243888855},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5012872219085693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4876774549484253},{"id":"https://openalex.org/C145633318","wikidata":"https://www.wikidata.org/wiki/Q207125","display_name":"Nonverbal communication","level":2,"score":0.46867188811302185},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4618678689002991},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.454177588224411},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.44294145703315735},{"id":"https://openalex.org/C183553116","wikidata":"https://www.wikidata.org/wiki/Q633546","display_name":"Eye contact","level":2,"score":0.41667911410331726},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3599297106266022},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.3489070534706116},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.33993738889694214},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.3015692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3015692","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W123531284","https://openalex.org/W582207767","https://openalex.org/W640969275","https://openalex.org/W1969029184","https://openalex.org/W1973193888","https://openalex.org/W1999657641","https://openalex.org/W2000548651","https://openalex.org/W2011652428","https://openalex.org/W2033005832","https://openalex.org/W2033684779","https://openalex.org/W2053451628","https://openalex.org/W2059796524","https://openalex.org/W2062160780","https://openalex.org/W2160637580","https://openalex.org/W2219848780","https://openalex.org/W2274524839","https://openalex.org/W2295338481","https://openalex.org/W2543757304","https://openalex.org/W2763110165","https://openalex.org/W2768514369","https://openalex.org/W2773786573","https://openalex.org/W2774470372","https://openalex.org/W2782048214","https://openalex.org/W2887317127","https://openalex.org/W2902424078","https://openalex.org/W2967235442","https://openalex.org/W3003759476"],"related_works":["https://openalex.org/W1973689121","https://openalex.org/W4386248818","https://openalex.org/W2313107300","https://openalex.org/W4320037918","https://openalex.org/W2598216754","https://openalex.org/W2135517810","https://openalex.org/W1994511394","https://openalex.org/W2103918150","https://openalex.org/W2372889142","https://openalex.org/W4388576605"],"abstract_inverted_index":{"We":[0,68,102,163],"present":[1],"the":[2,54,106,113,117,122,144,151,156,161,171,189,193,197],"results":[3],"of":[4,10,43,64,87,131,150,155,160,196],"two":[5,62],"studies":[6],"investigating":[7],"gaze":[8,20,50,100,111,158,169,191],"behaviors":[9,71,159],"a":[11,17,39,73,88,91,95],"robot":[12,74,96,107,145],"receiving":[13],"an":[14,22,78],"object":[15,141],"from":[16,90,112],"human.":[18],"Robot":[19],"is":[21],"important":[23],"nonverbal":[24],"behavior":[25],"during":[26],"human-robot":[27],"handovers,":[28,45],"yet":[29],"prior":[30],"work":[31],"has":[32],"only":[33],"studied":[34],"robots":[35],"as":[36],"givers.":[37],"From":[38],"frame-by-frame":[40],"video":[41],"analysis":[42],"human-human":[44],"we":[46,184],"identified":[47],"four":[48,99,157],"receiver":[49],"behaviors:":[51],"gazing":[52,57],"at":[53,58],"giver's":[55,114,118],"hand,":[56,119],"their":[59,148],"face,":[60],"and":[61,129,146,175],"kinds":[63],"face-hand":[65],"transition":[66],"gazes.":[67],"implemented":[69],"these":[70,98],"on":[72],"arm":[75],"equipped":[76],"with":[77,143,167],"anthropomorphic":[79,176],"head.":[80],"In":[81,135,179],"Study":[82,136],"1,":[83],"participants":[84,120,138],"compared":[85],"videos":[86],"handover":[89,123],"human":[92],"actor":[93],"to":[94,116,124,181],"exhibiting":[97],"behaviors.":[101],"found":[103,164,185],"that":[104,188],"when":[105],"transitions":[108],"its":[109],"head":[110],"face":[115,168],"consider":[121],"be":[125],"more":[126],"likable,":[127],"anthropomorphic,":[128],"communicative":[130],"timing":[132],"($p<;":[133],"0.0001$).":[134],"2,":[137],"physically":[139],"performed":[140],"handovers":[142,152],"rated":[147,170],"experiences":[149],"for":[153],"each":[154],"robot.":[162],"weaker":[165],"effects":[166],"most":[172],"likable":[173],"($p=0.01$)":[174],"($p=0.03$)":[177],"behavior.":[178],"contrast":[180],"previous":[182],"studies,":[183],"no":[186],"evidence":[187],"robot's":[190],"affected":[192],"start":[194],"time":[195],"human's":[198],"handover.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
