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

被引:11
|
作者
Jindai, Mitsuru [1 ]
Watanabe, Tomio [1 ]
Shibata, Satoru [2 ]
Yamamoto, Tomonori [2 ]
机构
[1] Okayama Prefectural Univ, 111 Kuboki, Soja, Okayama 7191197, Japan
[2] Ehime Univ, Grad Sch, Matsuyama, Ehime 7908577, Japan
关键词
human interaction; embodied interaction; handshaking; robot-human system;
D O I
10.20965/jrm.2008.p0650
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
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.
引用
收藏
页码:650 / 659
页数:10
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