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

Mitsuru Jindai; Tomio Watanabe; Satoru Shibata; Tomonori Yamamoto

doi:10.20965/jrm.2008.p0650

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JRM Vol.20 No.4 pp. 650-659

doi: 10.20965/jrm.2008.p0650

(2008)

Paper:

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

Mitsuru Jindai^, Tomio Watanabe^, Satoru Shibata^,
and Tomonori Yamamoto^

^*Okayama Prefectural University, 111 Kuboki, Soja, Okayama 719-1197, Japan

^**Graduate School of Ehime University, Bunkyo-cho, Matsuyama, Ehime 790-8577, Japan

Received:

August 22, 2007

Accepted:

March 2, 2008

Published:

August 20, 2008

Keywords:

human interaction, embodied interaction, handshaking, robot-human system

Abstract

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.

Cite this article as:

M. Jindai, T. Watanabe, S. Shibata, and T. Yamamoto, “Development of a Handshake Robot System Based on a Handshake Approaching Motion Model,” J. Robot. Mechatron., Vol.20 No.4, pp. 650-659, 2008.

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References

[1] T. Watanabe, M. Okubo, and H. Ogawa, “An Embodied Interaction Robots System Based on Speech,” Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.66, No.648, pp. 2721-2728, 2000.
[2] T. Watanabe, M. Okubo, M. Nakashige, and R. Danabara, “Inter-Actor: Speech-Driven Embodied Interactive Actor,” Int. Journal of Human-Computer Interaction, Vol.17, No.1, pp. 43-60, 2004.
[3] Y. Kunii, S. Manorotkul, and H. Hashimoto, “Development of Handshake Device and Tele-handshaking via the Internet,” The Transactions of The Institute of Electrical Engineers of Japan, Series C, Vol.117, No.5, pp. 500-505, 1997.
[4] M. Hashimoto, T. Kasuga, and T. Ichiwara, “Human-Robot Handshake Interaction in Consideration of Strength of Synchronization,” Proc. of the 11th Robotics Symposia, pp. 56-61, March 2006.
[5] T. Kasuga and M. Hashimoto, “Human-Robot Handshaking using Neural Oscillators,” Proc. of the 2005 IEEE Int. Conf. on Robotics and Automation, pp. 3813-3818, April 2005.
[6] S. Ohno and T. Inaba, “A Study on Human-Robot Co-creative Motion System,” Proc. of the 2005 JSME Conf. on Robotics and Mechatronics, No.5-4, CD-ROM, September 2005.
[7] S. Shibata, M. Jindai, and T. Yamamoto, “A Model of Handing an Object Over from The View Point of Cooperative Characteristics,” The Japanese Journal of Ergonomics, Vol.42, No.1, pp. 39-44, 2006.
[8] T. Yamamoto, S. Shibata, and M. Jindai, “An Application of “KANSEI” Transfer Function to a Robot’s Handing Motion Over to a Human,” Proc. of The 9th World Multi-Conf. on Systemics, Cybernetics and Informatics, Vol.VIII, pp. 69-74, July 2005.
[9] M. Kouchi, M. Mochimaru, H. Iwasawa, and S. Mitani, “Anthropometric Database for Japanese Population,” Japanese Industrial Standards Center 1997-98 (AIST, MITI), 2000.
[10] WR. A. Bradley and M. E. Terry, “Rank analysis of incomplete block designs,” Biometrika, Vol.39, pp. 324-345, 1952.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. Watanabe, M. Okubo, and H. Ogawa, “An Embodied Interaction Robots System Based on Speech,” Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.66, No.648, pp. 2721-2728, 2000.

[2] [2] T. Watanabe, M. Okubo, M. Nakashige, and R. Danabara, “Inter-Actor: Speech-Driven Embodied Interactive Actor,” Int. Journal of Human-Computer Interaction, Vol.17, No.1, pp. 43-60, 2004.

[3] [3] Y. Kunii, S. Manorotkul, and H. Hashimoto, “Development of Handshake Device and Tele-handshaking via the Internet,” The Transactions of The Institute of Electrical Engineers of Japan, Series C, Vol.117, No.5, pp. 500-505, 1997.

[4] [4] M. Hashimoto, T. Kasuga, and T. Ichiwara, “Human-Robot Handshake Interaction in Consideration of Strength of Synchronization,” Proc. of the 11th Robotics Symposia, pp. 56-61, March 2006.

[5] [5] T. Kasuga and M. Hashimoto, “Human-Robot Handshaking using Neural Oscillators,” Proc. of the 2005 IEEE Int. Conf. on Robotics and Automation, pp. 3813-3818, April 2005.

[6] [6] S. Ohno and T. Inaba, “A Study on Human-Robot Co-creative Motion System,” Proc. of the 2005 JSME Conf. on Robotics and Mechatronics, No.5-4, CD-ROM, September 2005.

[7] [7] S. Shibata, M. Jindai, and T. Yamamoto, “A Model of Handing an Object Over from The View Point of Cooperative Characteristics,” The Japanese Journal of Ergonomics, Vol.42, No.1, pp. 39-44, 2006.

[8] [8] T. Yamamoto, S. Shibata, and M. Jindai, “An Application of “KANSEI” Transfer Function to a Robot’s Handing Motion Over to a Human,” Proc. of The 9th World Multi-Conf. on Systemics, Cybernetics and Informatics, Vol.VIII, pp. 69-74, July 2005.

[9] [9] M. Kouchi, M. Mochimaru, H. Iwasawa, and S. Mitani, “Anthropometric Database for Japanese Population,” Japanese Industrial Standards Center 1997-98 (AIST, MITI), 2000.

[10] [10] WR. A. Bradley and M. E. Terry, “Rank analysis of incomplete block designs,” Biometrika, Vol.39, pp. 324-345, 1952.

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

Mitsuru Jindai*, Tomio Watanabe*, Satoru Shibata**, and Tomonori Yamamoto**

Mitsuru Jindai^, Tomio Watanabe^, Satoru Shibata^,
and Tomonori Yamamoto^