Fast Handovers with a Robot Character: Small Sensorimotor Delays Improve Perceived Qualities

We present a system for fast and robust handovers with a robot character, together with a user study investigating the effect of robot speed and reaction time on perceived interaction quality. The system can match and exceed human speeds and confirms that users prefer humanlevel timing. The system has the appearance of a robot character, with a bearlike head and a soft anthropomorphic hand and uses Bezier curves to achieve smooth minimumjerk motions. Fast timing is enabled by low latency motion capture