DataSheet1_Guidelines for Robot-to-Human Handshake From the Movement Nuances in Human-to-Human Handshake.zip

The handshake is the most acceptable gesture of greeting in many cultures throughout many centuries. To date, robotic arms are not capable of fully replicating this typical human gesture. Using multiple sensors that detect contact forces and displacements, we characterized the movements that occured during handshakes. A typical human-to-human handshake took around 3.63 s (SD = 0.45 s) to perform. It can be divided into three phases: reaching (M = 0.92 s, SD = 0.45 s), contact (M = 1.96 s, SD = 0.46 s), and return (M = 0.75 s, SD = 0.12 s). The handshake was further investigated to understand its subtle movements. Using a multiphase jerk minimization model, a smooth human-to-human handshake can be modelled with fifth or fourth degree polynomials at the reaching and return phases, and a sinusoidal function with exponential decay at the contact phase. We show that the contact phase (1.96 s) can be further divided according to the following subphases: preshake (0.06 s), main shake (1.31 s), postshake (0.06 s), and a period of no movement (0.52 s) just before both hands are retracted. We compared these to the existing handshake models that were proposed for physical human-robot interaction (pHRI). From our findings in human-to-human handshakes, we proposed guidelines for a more natural handshake movement between humanoid robots and their human partners.

数个世纪以来，握手在全球诸多文化中均为最为广为接受的问候手势。时至今日，机械臂仍无法完整复现这一典型的人类握手动作。本研究借助多组可检测接触力与位移的传感器，对握手过程中的动作特征进行了系统性刻画。典型的人际握手动作时长约为3.63秒（标准差Standard Deviation, SD=0.45秒），整体可划分为三个阶段：趋近阶段（均值Mean, M=0.92秒，SD=0.45秒）、接触阶段（M=1.96秒，SD=0.46秒）与返回阶段（M=0.75秒，SD=0.12秒）。为深入解析握手动作的细微运动特征，本研究对握手过程展开了进一步探究。本研究采用多阶加加速度（jerk）最小化模型，可将流畅的人际握手动作建模为：趋近与返回阶段采用五次或四次多项式，接触阶段则采用带指数衰减的正弦函数。研究表明，时长1.96秒的接触阶段可进一步划分为如下子阶段：预握手阶段（0.06秒）、主握手阶段（1.31秒）、后握手阶段（0.06秒），以及双手收回前的静止阶段（0.52秒）。本研究将上述结果与此前针对物理人机交互（Physical Human-Robot Interaction, pHRI）提出的现有握手模型进行了对比。基于人际握手的相关研究发现，本研究提出了一套可使人形机器人与人类搭档之间实现更自然握手动作的设计准则。