接近を伴う握手要求動作を生成する握手ロボットシステム

Humans shake hands as a sign of greeting when they first meet, to greet one another and develop a rapport. A handshake is an embodied interaction through physical contact. In the case of a human and robot, the robot can smoothly begin to communicate and coexist with humans without eliciting feelings of aversion on the part of the humans, provided it generates a handshake motion that is emotionally acceptable to humans. Therefore, in this paper, we develop a handshake robot system that generates a handshake request motion during active approach to a human. First, we analyze handshake motions with approach between humans. Then, based on the analysis of handshake motions between humans, a handshake request motion model which is generated during an approaching motion is proposed. Furthermore, using the proposed model, a mobile handshake robot system is developed. This mobile handshake robot system actively approaches a human, and it generates a handshake request motion by extending its hand to the human. The developed handshake robot system is evaluated using a sensory evaluation to analyze handshake motion preferred by humans. Based on the sensory evaluation results, the developed mobile handshake robot system satisfactorily generates the handshake request motion during active approach to a human, and its effectiveness is demonstrated

Advances in Human-Robot Handshaking

The use of social, anthropomorphic robots to support humans in various industries has been on the rise. During Human-Robot Interaction (HRI), physically interactive non-verbal behaviour is key for more natural interactions. Handshaking is one such natural interaction used commonly in many social contexts. It is one of the first non-verbal interactions which takes place and should, therefore, be part of the repertoire of a social robot. In this paper, we explore the existing state of Human-Robot Handshaking and discuss possible ways forward for such physically interactive behaviours.Comment: Accepted at The 12th International Conference on Social Robotics (ICSR 2020) 12 Pages, 1 Figur

A Turing-Like Handshake Test for Motor Intelligence

Abstract. In the Turing test, a computer model is deemed to “think intelligently ” if it can generate answers that are not distinguishable from those of a human. This test is limited to the linguistic aspects of machine intelligence. A salient function of the brain is the control of movement, with the human hand movement being a sophisticated demonstration of this function. Therefore, we propose a Turing-like handshake test, for machine motor intelligence. We administer the test through a telerobotic system in which the interrogator is engaged in a task of holding a robotic stylus and interacting with another party (human, artificial, or a linear combination of the two). Instead of asking the interrogator whether the other party is a person or a computer program, we employ a forced-choice method and ask which of two systems is more humanlike. By comparing a given model with a weighted sum of human and artificial systems, we fit a psychometric curve to the answers of the interrogator and extract a quantitative measure for the computer model in terms of similarity to the human handshake

A Novel Greeting Selection System for a Culture-Adaptive Humanoid Robot

Robots, especially humanoids, are expected to perform human-like actions and adapt to our ways of communication in order to facilitate their acceptance in human society. Among humans, rules of communication change depending on background culture: greetings are a part of communication in which cultural differences are strong. Robots should adapt to these specific differences in order to communicate effectively, being able to select the appropriate manner of greeting for different cultures depending on the social context. In this paper, we present the modelling of social factors that influence greeting choice, and the resulting novel culture-dependent greeting gesture and words selection system. An experiment with German participants was run using the humanoid robot ARMAR-IIIb. Thanks to this system, the robot, after interacting with Germans, can perform greeting gestures appropriate to German culture in addition to a repertoire of greetings appropriate to Japanese culture

A novel greeting selection system for a culture-adaptive humanoid robot

Robots, especially humanoids, are expected to perform human-like actions and adapt to our ways of communication in order to facilitate their acceptance in human society. Among humans, rules of communication change depending on background culture: greetings are a part of communication in which cultural differences are strong. Robots should adapt to these specific differences in order to communicate effectively, being able to select the appropriate manner of greeting for different cultures depending on the social context. In this paper, we present the modelling of social factors that influence greeting choice, and the resulting novel culture-dependent greeting gesture and words selection system. An experiment with German participants was run using the humanoid robot ARMARIIIb. Thanks to this system, the robot, after interacting with Germans, can perform greeting gestures appropriate to German culture in addition to a repertoire of greetings appropriate to Japanese culture

Synchronization-Based Control of a Robotic Suit for Walking Assist

信州大学博士（工学）・学位論文・平成24年3月20日授与（甲第562号)・ZHANG XIAThesisZHANG XIA. Synchronization-Based Control of a Robotic Suit for Walking Assist. 信州大学, 2012, 153p, 博士論文doctoral thesi

Human-Robot Handshaking: A Review

For some years now, the use of social, anthropomorphic robots in various situations has been on the rise. These are robots developed to interact with humans and are equipped with corresponding extremities. They already support human users in various industries, such as retail, gastronomy, hotels, education and healthcare. During such Human-Robot Interaction (HRI) scenarios, physical touch plays a central role in the various applications of social robots as interactive non-verbal behaviour is a key factor in making the interaction more natural. Shaking hands is a simple, natural interaction used commonly in many social contexts and is seen as a symbol of greeting, farewell and congratulations. In this paper, we take a look at the existing state of Human-Robot Handshaking research, categorise the works based on their focus areas, draw out the major findings of these areas while analysing their pitfalls. We mainly see that some form of synchronisation exists during the different phases of the interaction. In addition to this, we also find that additional factors like gaze, voice facial expressions etc. can affect the perception of a robotic handshake and that internal factors like personality and mood can affect the way in which handshaking behaviours are executed by humans. Based on the findings and insights, we finally discuss possible ways forward for research on such physically interactive behaviours.Comment: Pre-print version. Accepted for publication in the International Journal of Social Robotic

Comparative Study of Forced Oscillators for the Adaptive Generation of Rhythmic Movements in Robot Controllers

International audienceThe interest of Central Pattern Generators (CPGs) in robot motor coordination is universally recognized so much so that a lot of possibilities on different scales of modeling are nowadays available. While each method obviously has its advantages and drawbacks, some could be more suitable for human-robot interactions. In this paper, we compare three oscillator models: Matsuoka, Hopf and Rowat-Selverston models. These models are integrated to a control architecture for a robotic arm and evaluated in simulation during a simplified handshaking interaction which involves constrained rhythmic movements. Furthermore, Heb-bian plasticity mechanisms are integrated to the Hopf and Rowat-Selverston models which can incorporate such mechanisms, contrary to the Matsuoka. Results show that the Matsuoka oscillator is subpar in all aspects and for the two others, that plasticity improves synchronization and leads to a significant decrease of the power consumption

Hebbian Plasticity in CPG Controllers Facilitates Self-Synchronization for Human-Robot Handshaking

It is well-known that human social interactions generate synchrony phenomena which are often unconscious. If the interaction between individuals is based on rhythmic movements, synchronized and coordinated movements will emerge from the social synchrony. This paper proposes a plausible model of plastic neural controllers that allows the emergence of synchronized movements in physical and rhythmical interactions. The controller is designed with central pattern generators (CPG) based on rhythmic Rowat-Selverston neurons endowed with neuronal and synaptic Hebbian plasticity. To demonstrate the interest of the proposed model, the case of handshaking is considered because it is a very common, both physically and socially, but also, a very complex act in the point of view of robotics, neuroscience and psychology. Plastic CPGs controllers are implemented in the joints of a simulated robotic arm that has to learn the frequency and amplitude of an external force applied to its effector, thus reproducing the act of handshaking with a human. Results show that the neural and synaptic Hebbian plasticity are working together leading to a natural and autonomous synchronization between the arm and the external force even if the frequency is changing during the movement. Moreover, a power consumption analysis shows that, by offering emergence of synchronized and coordinated movements, the plasticity mechanisms lead to a significant decrease in the energy spend by the robot actuators thus generating a more adaptive and natural human/robot handshake