抄録
A design is presented for acceptable handing motion of arm-robots utilizing a transfer function, that linearly transforms a synchronized trajectory to the hand movement of the receiver which is emotionally acceptable to human psychology. The transfer function is named the “Kansei” transfer function in this paper. Motions of robots that cooperatively support human should be emotionally acceptable for humans. To form such a movement, an effective method is for robots to make their motions gentle when taking care of humans. First, the human motion of handing an object to another human constrained to a sagittal plane is analyzed and its features are extracted. Then, the possibility of applying the clarified features to the handing motions of a robot is examined. It is found that the movement characteristic of the hander can be approximated by linearly transforming the movements of the receiver, that is, the relationship of the two movements can be expressed by a transfer function. The second order lag element with suitable parameters is sufficient to describe the relationship. The parameters of the transfer function are experimentally determined and the resulting transfer function is tested in a series of handing experiments with a human receiver. Handing motions that are acceptable by human receivers are realized by adjusting parameters in the transfer function.
