A handshake robot system based on a shake-motion leading model

Handshake refers to embodied interaction using physical contact for closeness. In this paper, we analyze the handshake motion between humans and propose a handshake approaching motion model and a shake-motion leading model based on the analysis. In the handshake approaching motion model, a robot can generate handshake approaching motion that is accepted psychologically by humans using the second-order lag element and the dead time element from trajectory of human hand. Furthermore, a shake-motion leading model generates a leading motion in order to transit from approaching motion to shaking motion. A handshake robot system that adopts these proposed models is developed. The effectiveness of these models is demonstrated by sensory evaluation using the handshake robot system.