A handshake response motion model during active approach to a human

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.