Handshake response motion model with approaching of human based on an analysis of human handshake motions

Humans often greet one another using a handshake, a common gesture of friendship. In interactions between humans and robots, the robot can smoothly begin to coexist and communicate with humans and allay feelings of aversion in them by generating a handshake motion that is emotionally acceptable to humans. Thus, in our previous study, a handshake response motion model was proposed, in which the robot generates a handshake approaching motion before actually shaking hands with the human. In this model, the robot responds with a handshake when the human requests one. The effectiveness of the model was demonstrated by experiments using a handshake robot system when the human and robot remained stationary. However, in interactions between two humans, one usually requests a handshake while approaching the other. Therefore, in this paper, a handshake response motion model with approaching of human has been proposed based on an analysis of human handshake motions. In this model, the robot generates the response motion of a handshake when a human requests one while approaching the robot. Furthermore, the effectiveness of the proposed model was demonstrated by sensory evaluation using a robot system that employed the model.