{"id":"https://openalex.org/W4404851986","doi":"https://doi.org/10.1109/tro.2024.3508194","title":"Reactive Human-to-Robot Dexterous Handovers for Anthropomorphic Hand","display_name":"Reactive Human-to-Robot Dexterous Handovers for Anthropomorphic Hand","publication_year":2024,"publication_date":"2024-11-29","ids":{"openalex":"https://openalex.org/W4404851986","doi":"https://doi.org/10.1109/tro.2024.3508194"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3508194","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3508194","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Transactions on Robotics","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/A5057373696","display_name":"Haonan Duan","orcid":"https://orcid.org/0000-0002-3608-4467"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haonan Duan","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011130586","display_name":"Peng Wang","orcid":"https://orcid.org/0000-0002-8265-9866"},"institutions":[{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Wang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084695914","display_name":"Yifan Yang","orcid":"https://orcid.org/0009-0002-8075-8219"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Yang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042097384","display_name":"Daheng Li","orcid":"https://orcid.org/0000-0002-6289-5423"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daheng Li","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065679546","display_name":"Wei Wei","orcid":"https://orcid.org/0000-0001-9654-0981"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wei","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088762168","display_name":"Yongkang Luo","orcid":"https://orcid.org/0000-0003-0651-8794"},"institutions":[{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongkang Luo","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084627414","display_name":"Guoqiang Deng","orcid":"https://orcid.org/0009-0004-4119-5788"},"institutions":[{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoqiang Deng","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5057373696"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"],"apc_list":null,"apc_paid":null,"fwci":6.0642,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.96611372,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"41","issue":null,"first_page":"742","last_page":"761"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9977999925613403,"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":0.9977999925613403,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9753999710083008,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10883","display_name":"Ethics and Social Impacts of AI","score":0.9359999895095825,"subfield":{"id":"https://openalex.org/subfields/3311","display_name":"Safety Research"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6474534869194031},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.6438267230987549},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6023318767547607},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.5683982372283936},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.51630038022995},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4797433614730835},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43165579438209534},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4194742441177368},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41896873712539673}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6474534869194031},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.6438267230987549},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6023318767547607},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.5683982372283936},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.51630038022995},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4797433614730835},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43165579438209534},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4194742441177368},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41896873712539673}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3508194","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3508194","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2121678844","display_name":null,"funder_award_id":"91748131","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2577844026","display_name":null,"funder_award_id":"61771471","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4988982107","display_name":null,"funder_award_id":"62006229","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":75,"referenced_works":["https://openalex.org/W256776660","https://openalex.org/W1589481967","https://openalex.org/W2003469320","https://openalex.org/W2018420590","https://openalex.org/W2062349701","https://openalex.org/W2066407408","https://openalex.org/W2070678636","https://openalex.org/W2115532407","https://openalex.org/W2123435073","https://openalex.org/W2153562565","https://openalex.org/W2160686985","https://openalex.org/W2207271838","https://openalex.org/W2274524839","https://openalex.org/W2282481780","https://openalex.org/W2296332048","https://openalex.org/W2560609797","https://openalex.org/W2738701102","https://openalex.org/W2746553466","https://openalex.org/W2768683308","https://openalex.org/W2787268775","https://openalex.org/W2888425721","https://openalex.org/W2889666061","https://openalex.org/W2911549659","https://openalex.org/W2950069298","https://openalex.org/W2953511201","https://openalex.org/W2953669419","https://openalex.org/W2961607195","https://openalex.org/W2986303149","https://openalex.org/W2986578974","https://openalex.org/W2993182889","https://openalex.org/W3003555862","https://openalex.org/W3003892384","https://openalex.org/W3006932462","https://openalex.org/W3048615328","https://openalex.org/W3089045049","https://openalex.org/W3114952123","https://openalex.org/W3131514027","https://openalex.org/W3137210930","https://openalex.org/W3161893798","https://openalex.org/W3167551107","https://openalex.org/W3172917672","https://openalex.org/W3180172155","https://openalex.org/W3189787970","https://openalex.org/W3197139780","https://openalex.org/W3204090911","https://openalex.org/W3204644301","https://openalex.org/W3205994030","https://openalex.org/W3207398045","https://openalex.org/W4214525036","https://openalex.org/W4226069512","https://openalex.org/W4281252704","https://openalex.org/W4285102398","https://openalex.org/W4293812331","https://openalex.org/W4312616477","https://openalex.org/W4312903973","https://openalex.org/W4313535397","https://openalex.org/W4366993197","https://openalex.org/W4367834905","https://openalex.org/W4380450805","https://openalex.org/W4382366145","https://openalex.org/W4382657775","https://openalex.org/W4385245566","https://openalex.org/W4386071465","https://openalex.org/W4386071618","https://openalex.org/W4386075727","https://openalex.org/W4388340383","https://openalex.org/W4389666035","https://openalex.org/W4401416451","https://openalex.org/W4402702978","https://openalex.org/W6622992991","https://openalex.org/W6739778489","https://openalex.org/W6745485484","https://openalex.org/W6752818329","https://openalex.org/W6765299845","https://openalex.org/W6864332406"],"related_works":["https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727","https://openalex.org/W2018667201","https://openalex.org/W3027667018","https://openalex.org/W4205469505","https://openalex.org/W2088476797","https://openalex.org/W2570668074"],"abstract_inverted_index":{"Human-robot":[0],"object":[1],"handovers":[2],"are":[3,152],"essential":[4],"for":[5,40,77,165],"robots":[6,33],"to":[7,54,92,124,132],"effectively":[8],"serve":[9],"human":[10,125],"needs":[11],"in":[12,34,98],"various":[13],"domains":[14],"of":[15,149,157],"human\u2013robot":[16],"interaction":[17],"and":[18,37,59,88,95,111,139,147,168],"collaboration,":[19],"yet":[20],"remain":[21],"a":[22,71,103,107,112,161,169],"significant":[23],"challenge.":[24],"Remarkable":[25],"progress":[26],"has":[27],"been":[28],"made":[29],"by":[30],"parallel-jaw":[31],"gripper":[32],"grasp":[35,89,142],"generation":[36],"motion":[38,97,126],"planning":[39],"handovers,":[41],"while":[42],"few":[43],"studies":[44],"address":[45],"this":[46,67],"issue":[47],"using":[48,106],"anthropomorphic":[49,78],"hands,":[50],"necessitating":[51],"the":[52,118,128,155],"ability":[53],"handle":[55],"higher":[56],"collision":[57,86],"probabilities":[58],"lower":[60],"approaching":[61],"space":[62],"under":[63],"occluded":[64],"situations.":[65],"In":[66],"article,":[68],"we":[69],"present":[70],"reactive":[72],"human-to-robot":[73],"dexterous":[74],"handover":[75,104,129,156],"framework":[76,82],"hands.":[79],"The":[80,144],"closed-loop":[81],"employs":[83],"an":[84],"effective":[85],"detection":[87],"selection":[90],"approach":[91],"ensure":[93],"safe":[94],"smooth":[96],"unstructured":[99],"environments.":[100],"We":[101],"implement":[102],"system":[105,162],"UR5":[108],"robot":[109],"arm":[110],"Schunk":[113],"SVH":[114],"Hand":[115],"based":[116],"on":[117],"presented":[119],"framework,":[120],"which":[121],"can":[122],"react":[123],"during":[127],"process,":[130],"generalize":[131],"diverse":[133],"objects":[134],"with":[135],"different":[136],"6-DoF":[137],"poses,":[138],"execute":[140],"suitable":[141],"configurations.":[143],"generalizability,":[145],"reliability,":[146],"efficiency":[148],"our":[150],"method":[151],"demonstrated":[153],"through":[154],"30":[158],"novel":[159],"objects,":[160],"ablation":[163],"study":[164,171],"submodule":[166],"evaluation,":[167],"user":[170],"assessment":[172],"involving":[173],"eight":[174],"participants.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":9}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}