A handshake response motion model during active approach to a human

Abstract

A handshake is an embodied interaction for displaying closeness through physical contact. In this study, we develop a handshake response motion model for a handshake during active approach to a human on the basis of analysis of handshake motions between humans. We also develop a handshake robot system that uses the proposed model. A sensory evaluation is performed for analyzing the time lag preferred by humans between the approaching motion and the hand motion generated by the robot system. Another sensory evaluation is performed for determining the preferred timing of a handshake motion that is accompanied by a voice greeting. The evaluation results demonstrate that the proposed model can generate a handshake response motion during active approach that is preferred by humans. Furthermore, the effectiveness of the proposed model is demonstrated.S. Ota is with Graduate School of System engineering,

Human-Robot Handshaking: A Review

“…We have already described the work of Jindai et al [32,37,38] and Ota et al [62,63] above. To the best of our knowledge, Human likeness of proposed handshake models [85,86] *Simulated robot these were the first works to model the hand reaching aspect and deploy it on a robot.…”

“…A group of researchers from Okayama Prefectural University, Japan conducted a series of studies [32][33][34][35][36][37][38]62,63,89] to study handshaking interactions between humans and analyse how participants respond to different behaviours applied on a custom robotic arm. They use a VICON motion capture system to track markers placed on both shoulders, right elbow wrists and hands of both participants.…”

“…Subsequently, the oscillatory motion profiles of the observed shaking behaviours were modelled as a spring and damper system [35,89]. Following this, the interactiveness was studied by modelling the requester [32,37] and responder [62,63] behaviours with respect to delays in the motions and auxiliary behaviours like gaze and speech. The result of applying the key findings from the above works on their robot is explored in Sect.…”

“…It was found that the most preferred behaviour was when the gaze shifts steadily from the hand while reaching out to the face after contact is established. The response models [62,63] ware tested based on the delay between the request and response motions and it was seen that starting the response a fraction of a second (0.2-0.4 s) after the response was preferred. However, a larger delay of 0.6s was less preferable.…”

Break the Ice: a Survey on Socially Aware Engagement for Human–Robot First Encounters

“…Later, they study the best arm and gaze movements for their robot to request a handshake [59]. Following this, they studied the timings and the lag between the start of a request of a handshake and the start of a response [85] [86]. In one of our past works [11], we implemented a handshake system on the Vizzy robot.…”