The handshake is the most acceptable gesture of greeting in many cultures throughout many centuries. To date, robotic arms are not capable of fully replicating this typical human gesture. Using multiple sensors that detect contact forces and displacements, we characterized the movements that occured during handshakes. A typical human-to-human handshake took around 3.63 s (SD = 0.45 s) to perform. It can be divided into three phases: reaching (M = 0.92 s, SD = 0.45 s), contact (M = 1.96 s, SD = 0.46 s), and return (M = 0.75 s, SD = 0.12 s). The handshake was further investigated to understand its subtle movements. Using a multiphase jerk minimization model, a smooth human-to-human handshake can be modelled with fifth or fourth degree polynomials at the reaching and return phases, and a sinusoidal function with exponential decay at the contact phase. We show that the contact phase (1.96 s) can be further divided according to the following subphases: preshake (0.06 s), main shake (1.31 s), postshake (0.06 s), and a period of no movement (0.52 s) just before both hands are retracted. We compared these to the existing handshake models that were proposed for physical human-robot interaction (pHRI). From our findings in human-to-human handshakes, we proposed guidelines for a more natural handshake movement between humanoid robots and their human partners.
3D printing technology is the new frontier in building construction. It is especially useful for making small structures within a short period. Full construction, including interior partitions and exterior façades, can be achieved with this technology. This paper proposes a parametric Voronoi tessellations model for quickly generating and fabricating 3D-printed hexagonal honeycomb partitions for interior design. Comprehensive experimental testing was conducted to characterize the mechanical properties and investigate the energy absorption characteristics of the proposed 3D-printed hexagonal honeycomb while comparing it to alternative hexagonal honeycomb structures. The tests included tensile testing (ASTM-D638) of the printed Polylactic Acid (PLA) material, especially with the almost total absence of conducted research that reported mechanical properties for 3D printed material with low infill percentages such as 10%. In addition, an in-plane quasi-static axial compression testing of the lightweight honeycomb structures was also conducted on the printed structure with the same low infill percentage. Compared to non-Voronoi honeycomb structures, the Voronoi honeycomb resulted in superior mechanical and energy absorption properties with energy absorption values ranging from 350 to 435 J and crash force efficiency being 1.42 to 1.65.
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