Sharing effort in planning human-robot handover tasks

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Learning Dynamic Robot-to-Human Object Handover from Human Feedback (2016, background): “In the ﬁrst stage, the giver approaches the taker and poses the object to get ready for handover [4, 20, 25].”
An Incremental Self-Organizing Architecture for Sensorimotor Learning and Prediction (2017, background): “However, each sensorimotor cycle of the robot is affected by an inherent latency introduced by the processing time of sensors, transmission time of signals, and mechanical constraints [1]–[3].”
Human-robot collaborative manipulation planning using early prediction of human motion (2013, methodology): “A motion planning method that allows to share the effort by exploring the combined configuration space of the human and the robot has been proposed in [18].”
Artificial cognition for social human-robot interaction: An implementation (2017, background): “…what action to execute next [2], and who should perform it, from the robot or the human (or both in case of a collaborative action such as a handover [3, 4]), how it should achieved and what signals should be sensed and / or produced by the robot to facilitate human-robot joint action [5, 6, 7, 8].”