A robotic control system directs a robot to take an object from a human grasp by obtaining an image of a human hand holding an object, estimating the pose of the human hand and the object, and determining a grasp pose for the robot that will not interfere with the human hand. In at least one example, a depth camera is used to obtain a point cloud of the human hand holding the object. The point cloud is provided to a deep network that is trained to generate a grasp pose for a robotic gripper that can take the object from the human's hand without pinching or touching the human's fingers.