Development of a shake-motion leading model for human-robot handshaking
In this paper, we analyze the handshake motion between humans and propose a shake-motion leading model based on the analysis. The proposed shake-motion leading model generates a leading motion in order to shift from an approaching motion to a shake-motion. Furthermore, a handshake robot system that adopts the proposed model is developed, and the effectiveness of the proposed model is demonstrated by the sensory evaluation using the developed handshake robot system. The shake-motion leading model that the hand movement direction to begin the shake-motion is determined by the contact height of the robot and the human hand, is acceptable to humans.