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

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.