Abstract
It is expected that robots will play an important role such as social welfare and service for the aging society. These robots should be emotionally accepted for human close feelings. On the other hand, humans shake hands in order to get each other's close feelings as a greeting. Handshake is the embodied interaction with contact by which human can share embodied rhythm directly. In this paper, we develop a handshake robot system for embodied interaction with human. This robot can generate the handshake approaching motion which is emotionally accepted using secondary delay elements from trajectory of human hand. The effectiveness of this handshake robot system is demonstrated by sensory evaluations.
