S1201-1-3 A handshake robot system based on a handshake request motion model with gaze presentation

Abstract

In this study, we analyzed handshake motions and gaze presentations in handshake between humans, and proposed a handshake request motion model based on the analysis. Furthermore, a handshake robot system which adopts the proposed model was developed for the generation of a handshake request motion from a robot to a human. Using the handshake robot system, a sensory evaluation was performed in order to analyze timing of voice greetings and gaze presentations in handshake motions. From the experimental results, the voice greeting which starts earlier than the hand movement and the gaze presentation shifting from the hand to the head are preferred by humans in handshake between a human and a robot.