Development of a handshake robot system based on a handshake approaching motion model

Handshake refers to embodied interaction using physical contact for closeness. In this paper, we analyze the handshake approaching motion between humans in cases with and without voice greeting and propose a handshake approaching motion model based on the analysis. In this model, a robot can generate handshake approaching motion that is emotionally acceptable to humans by using the second-order lag element and the dead time element from trajectory of human hand. Furthermore, a handshake robot system that adopts this proposed model is developed and motion characteristics of handshake approaching motions with and without voice greeting are analyzed using analysis-by-synthesis technique. The effectiveness of this model and the handshake robot system are demonstrated by sensory evaluation.