It was discovered on 4 February 1994 by Japanese astronomers Seiji Ueda and Hiroshi Kaneda at the Kushiro Observatory on Hokkaidō, Japan.
[13] On 29 November 2021, IAU's Working Group for Small Bodies Nomenclature named it from Greek mythology after the warrior Hypsenor, who was killed during the Trojan War by the Trojan prince Deiphobus whose Javelin throw bounced back of Idomeneus' shield.
[12] In October 2013, a rotational lightcurve was obtained for this asteroid from photometric observations by American amateur astronomer Robert Stephens at the Trojan Station (U81) of the Center for Solar System Studies in Landers, California.
It gave a well-defined, outstandingly long rotation period of 648±3 hours with a brightness variation of 0.30 magnitude (U=3-).
[8] Hypsenor is the six-largest asteroid and the second-largest Jupiter trojan after 4902 Thessandrus known to be is such a state (also see list of tumblers).