Abstract
In this paper, we propose a method for smooth human-robot interaction. The robot grabs human's hand when the robot guides for human. The robot can precisely convey its intention to human by taking a variety of actions in the grabbing hand. Also the robot can understand human's intention and request by recognizing the contact and the movement of human's hand. Our framework can achieve mutual communication between human and robot via haptics which is a key element of human robot interaction.
