Abstract
It is expected that robots play an important role coexisting with a human in a hospital, at home, and so on. In such a case, a robot motion is required to be human-friendly.
In this paper, human arm motions are simulated using both computer graphics and an industry robot under various velocity patterns, and evaluated to examine which factor is essential for human-likeness. The results are summarized as follows. First, the velocity peak position in the normalized duration of the motion is important for the emotion of human-likeness. Second, the maximum value of the velocity effects human impression of the motion. There exists the appropriate maximum value which gives a subject the emotion of human-likeness best. Finally, the emotion of human-likeness is related to that of comfort. These results are almost the same for both a simulated motion on CRT and a robot motion.
