HH is what you experience when you're transitioning between the waking and dream world. During HH, you're are still "connected" to the physical world and, so, if you were to attempt to move, you would move your physical body. A lucid dream is where your consciousness is now entirely in the dream world and, so, attempting to move, will, usually, move your dream body. Aside from that (which can probably be better explained by someone else), lucid dreams are generally more vivid and, for want of a better word, real.
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