JRM Vol.20 No.4 pp. 650-659
doi: 10.20965/jrm.2008.p0650


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

August 22, 2007
March 2, 2008
August 20, 2008
human interaction, embodied interaction, handshaking, robot-human system

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:
Mitsuru Jindai, Tomio Watanabe, Satoru Shibata, and
and Tomonori 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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Last updated on Mar. 05, 2021