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Development of a Handshake Robot System Based on a Handshake Approaching Motion Model

2008; Fuji Technology Press Ltd.; Volume: 20; Issue: 4 Linguagem: Inglês

10.20965/jrm.2008.p0650

1883-8049

Mitsuru JINDAI, Tomio Watanabe, Satoru SHIBATA, Tomonori Yamamoto,

Robotics and Automated Systems

Humans shake hands as greetings of a first meeting to show a feeling of closeness. A handshake is an embodied interaction involving a physical contact to make communication smooth. A natural handshake between a robot and a human would presumably have the same effect. In this paper, we analyzed mutual handshaking between humans with and without voice greetings and propose a handshake approaching motion model based on the analysis. In this model, a robot can generate handshake approaching motion that is acceptable to a human using second-order lag and dead time elements from the trajectory of a human hand. Furthermore, we developed a handshake robot system by applying the proposed handshake approaching motion model and demonstrated the effectiveness of the approaching handshaking motion model and the handshake robot system through sensory evaluation.