Handover actions are joint actions between two people in which an object is transferred from a giver to a receiver. This requires precise coordination of both the hand kinematics and the scaling of the gripping forces of both actors. A measurement object is presented that synchronously records the gripping forces of both actors on the instrument and the kinematic data of both actors as well as the position and orientation of the instrument in space using an optical motion capture system. In addition, the object allows a concealed change in weight so that it cannot be anticipated by the actors. This enables the user to systematically analyse transfer processes. Using exemplary data, we show in this study how the movement kinematics and the grip forces during a handover depend on the properties of the object to be measured (e.g. size or weight). Three-dimensional print files of the measurement object, the plan of the printed circuit board, and the assembly list are available in the Supplementary Materials.
