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

Abstract

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.

A handshake response motion model during active approach to a human

“…In this model, the velocity V (t) is calculated from the maximum velocity V max and the movement time T f by (3). The maximum velocit V max is calculated by (4). Here, r 0 and r f are the initial and target angles, respectively.…”

“…The approaching motion before the handshake is important for the first embodied interaction. Therefore, we previously proposed a handshake approaching motion model on the basis of analysis of handshake motions between humans [4], [5]. Furthermore, we performed a sensory evaluation of a handshake robot system to demonstrate the effectiveness of the proposed handshake approaching motion model.…”

Performing Periodic Tasks: On-Line Learning, Adaptation and Synchronization with External Signals

“…the yo-yo (Hashimoto & Noritsugu, 1996;Jin et al, 2009;Jin & Zacksenhouse, 2003;Žlajpah, 2006) or a gyroscopic device called the Powerball (Cafuta & Curk, 2008;Gams et al, 2007;Heyda, 2002;Petrič et al, 2010), juggling (Buehler et al, 1994;Ronsse et al, 2007;Schaal & Atkeson, 1993;Williamson, 1999) and locomotion (Ijspeert, 2008b;Ilg et al, 1999;Morimoto et al, 2008). Rhythmic tasks are also handshaking (Jindai & Watanabe, 2007;Kasuga & Hashimoto, 2005;Sato et al, 2007) and even handwriting (Gangadhar et al, 2007;Hollerbach, 1981). Performing these tasks with robots requires appropriate trajectory generation and foremost precise frequency tuning by determining the basic frequency.…”

Physical Analysis of Handshaking Between Humans: Mutual Synchronisation and Social Context

“…The idea that a robotic device serves as the medium of the handshake between two people was considered firstly in [25,50]. The handshake between a human and robot was examined in the fullest and deepest form in the work of Jindai and his group over the past twelve years [32,29,71,30,31]. Turing test were performed for handshake [36] and has been improved the behavior of the robot performing handshake [5].…”