Visual impression to robot motion imitating human - study on delay motion

This paper considers the visual impression in a human robot interaction where a robot imitates the human motion obtained by Microsoft Kinect. In this interaction, a subject swings both arms up and down while Kinect measures the subject's motion and this motion is sent to the robot with a certain delay time. In the above situation, firstly, this paper quantitatively shows the perceptible delay time for a human when the robot motion is delayed with respect to own motion. Next, this paper investigates human impressions when he/she watches the robot motion being not synchronized to his/her motion. Last, the difference of the impressions to the delay and synchronic robot motion is statistically verified.