Abstract
A handshake is an embodied interaction for displaying closeness using physical contact. In this paper, we develop a handshake robot system for generating a handshake response motion with the approach of human. First, handshake motions with approachs between humans are analyzed. Then, based on this analysis, the handshake robot system that generates a handshake response motion with the approach of human using a handshake response motion model, is developed. Furthermore, by using the developed handshake robot system, a sensory evaluation of human preference is performed to determine the timing between the approaching motion and the hand motion. As a result, the handshake robot system can generate a handshake response motion with the approach of human that is preferred by humans.
