Abstract
Robots that share workspaces with human are expected in the field of services in the home and office, medicine, and so on. In this research, the neck movement was used for as instructions method for the robot. Furthermore, "KANSEI" transfer function is introduced to convert human instructions into acceptable movement for human emotions. Here, it is thought that the parameter of "KANSEI" transfer function is related to the moving direction and relative position between a human and the robot. The parameter values of the "KANSEI" transfer function is adjusted based on the moving direction and the relative position between human and the robot.
