Pith Number

pith:UECOX4ZM

pith:2026:UECOX4ZMFOKFOVIZADXXZNUXJB

not attested not anchored not stored refs pending

Adaptive vs. Static Robot-to-Human Handover: A Study on Orientation and Approach Direction

Cristina Iani, Dario Onfiani, Federico Biagi, Luigi Biagiotti, Simone Silenzi

Adaptive robot handovers that adjust object orientation in real time reduce user cognitive workload and stress.

arxiv:2604.22378 v2 · 2026-04-24 · cs.RO

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\usepackage{pith}
\pithnumber{UECOX4ZMFOKFOVIZADXXZNUXJB}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

The results demonstrate that dynamic alignment significantly reduces users' cognitive workload and physiological stress, while increasing perceived trust in the robot's reliability.

C2weakest assumption

That real-time AI hand pose estimation reliably infers the user's intended grasp and downstream task without significant errors or delays under varying conditions.

C3one line summary

An adaptive robot-to-human handover framework dynamically aligns object pose via hand pose estimation and task awareness, yielding lower workload, reduced physiological stress, and higher trust than static baselines in a user study.

Receipt and verification

First computed	2026-06-23T02:13:24.205592Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a104ebf32c2b9457551900ef7cb697487d116e01087b902120be212dc0802ea1

Aliases

arxiv: 2604.22378 · arxiv_version: 2604.22378v2 · doi: 10.48550/arxiv.2604.22378 · pith_short_12: UECOX4ZMFOKF · pith_short_16: UECOX4ZMFOKFOVIZ · pith_short_8: UECOX4ZM

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/UECOX4ZMFOKFOVIZADXXZNUXJB \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: a104ebf32c2b9457551900ef7cb697487d116e01087b902120be212dc0802ea1

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3c8f2c4ce3af73a43f7b59e88972da919456f130faaeb6a2caf1b95a3be6e9a9",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-24T09:14:44Z",
    "title_canon_sha256": "872ecbd8d5dc35f5b9691d20ef9ae19ed338d632d7543307aa34bd661efc649e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.22378",
    "kind": "arxiv",
    "version": 2
  }
}