Proposal of the interaction force measuring device for human handshakes

抄録

Human-robot handshake is a deeply explored topic in human-robot physical interaction. Lots of researches have focused on the pressure distribution during the handshake movements. But the grasping force and joint torque are usually intertwined, and the current approach measuring the contact force cannot separate the two. In this research we proposed a new device for the purpose of measuring the interaction force generated by joint movement and the grasping force generated by forearm muscles separately. And we used the proposed measuring device to investigate two different types of handshakes and verified its effectiveness in doing research on analyzing the interaction forces of handshakes.