For the koshi-waza style uchi-mata, what distinguishes it from hane-goshi is the position of the leg (whether straight through uke's legs, or bent):

In the original uchi-mata, tori sweeps up uke's left leg with his right leg, which brings it under ashi-waza techniques. But increasingly, we see a kind of koshi-waza technique where tori loads uke onto his waist and sweeps him up. #> Consequently, uchi-mata is classified under both ashi-waza and koshi-waza, but the koshi-waza type of uchi-mata described here is a practical technique.

This technique is similar to hane-goshi. If tori scoops uke up using the waist and leg, from a posture with his right knee bent, it is then classified as hane-goshi (photo 37).

"koshi-waza" uchi-mata	hane-goshi

• Kodokan Judo Throwing Techniques, Toshiro Daigo (2005)

For the koshi-waza style uchi-mata, what distinguishes it from hane-goshi is the position of the leg (whether straight through uke's legs, or bent):

In the original uchi-mata, tori sweeps up uke's left leg with his right leg, which brings it under ashi-waza techniques. But increasingly, we see a kind of koshi-waza technique where tori loads uke onto his waist and sweeps him up. #> Consequently, uchi-mata is classified under both ashi-waza and koshi-waza, but the koshi-waza type of uchi-mata described here is a practical technique.

This technique is similar to hane-goshi. If tori scoops uke up using the waist and leg, from a posture with his right knee bent, it is then classified as hane-goshi (photo 37).

"koshi-waza" uchi-mata	hane-goshi

• Kodokan Judo Throwing Techniques, Toshiro Daigo (2005)

Note the Kodokan New Japanese-English Dictionary of Judo makes allusion to the overlap between these two techniques:

haneru (to spring/jump) A situation in which the powerful effect of a hane goshi or uchimata sends your opponent's body high into the air.