Abstract
Handshake is an embodied interaction with contact. In our previous research, a handshake approaching motion without a voice greeting was analyzed, and a motion model was proposed based on the analysis. However, humans usually shake hands in a voice greeting. Therefore, in this paper, we develop a handshake approaching motion model in a voice greeting. In this model, handshake approaching motion is generated from trajectory of human hand using the second order lag element and dead time element. The effectiveness of the model is demonstrated by sensory evaluations using a handshake robot system.
