Abstract
A handshake is an embodied interaction for displaying closeness using physical contact. In this paper, we analyzed handshake motions with approaching of humans, and proposed a handshake request motion model for approaching human with voice greeting based on the analysis. Furthermore, a handshake robot system that uses 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 hand movement to humans. From the experimental results, a beginning of voice greeting when a step forward from a last landing was preferred by humans. The effectiveness of the model was demonstrated.
