An interface between a human and an intelligent machine in a shared daily space, in which the intelligent machine follows instructions by the sound pressure of an ordinary human voice, is considered here. This interface is effective for the disabled who have difficulty with linguistic expression. The intelligent machine's cooperative movements are required to take account of the human's state of mind to serve effectively as his or her companion. In this paper, the patterns of intelligent machine motion are determined by adopting transfer functions that consider sound pressure directing operation as input, and the target speed of the intelligent machine as output. By changing transfer functions or adjustable parameters, different human psychological influences are expected. Motion properties of intelligent machines, which are appropriate for human states of mind, are examined using the SD method. As a result, it is clarified that human emotions concerning the intelligent machine motion are represented by the factors of “mild”, “lively”, “comfortable”and “interesting”. In addition, two patterns of transfer function and parameter th at can form desirablemovements considering human psvchology are identified.
