A small-size handshake robot system based on a handshake approaching motion model with a voice greeting

We previously proposed a model for a handshake approaching motion with a voice greeting and developed a handshake robot system that applied the proposed model for embodied interaction with humans. The handshake robot system was fabricated by considering the average size of a human arm. However, small-size embodied interaction robots are required for use in homes. Therefore, in this study, a small-size handshake robot system is developed for use in the home. Furthermore, a hand position recognition method that involves a combination of an image processing and a 3D model of a human arm is proposed, and the method is adopted in the developed robot system to recognize the position of a human hand without requiring prior contact or any restrictions on humans. The effectiveness of the handshake approaching motion model for a small-size robot and the developed small-size handshake robot system are demonstrated by sensory evaluation.