Cargando…

Guidelines for Robot-to-Human Handshake From the Movement Nuances in Human-to-Human Handshake

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...

Descripción completa

Detalles Bibliográficos
Autores principales: Cabibihan, John-John, El-Noamany, Ahmed, Ragab, Abdelrahman Mohamed, Ang, Marcelo H.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8996188/
https://www.ncbi.nlm.nih.gov/pubmed/35419414
http://dx.doi.org/10.3389/frobt.2022.758519
_version_ 1784684441621233664
author Cabibihan, John-John
El-Noamany, Ahmed
Ragab, Abdelrahman Mohamed
Ang, Marcelo H.
author_facet Cabibihan, John-John
El-Noamany, Ahmed
Ragab, Abdelrahman Mohamed
Ang, Marcelo H.
author_sort Cabibihan, John-John
collection PubMed
description 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.
format Online
Article
Text
id pubmed-8996188
institution National Center for Biotechnology Information
language English
publishDate 2022
publisher Frontiers Media S.A.
record_format MEDLINE/PubMed
spelling pubmed-89961882022-04-12 Guidelines for Robot-to-Human Handshake From the Movement Nuances in Human-to-Human Handshake Cabibihan, John-John El-Noamany, Ahmed Ragab, Abdelrahman Mohamed Ang, Marcelo H. Front Robot AI Robotics and AI 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. Frontiers Media S.A. 2022-03-28 /pmc/articles/PMC8996188/ /pubmed/35419414 http://dx.doi.org/10.3389/frobt.2022.758519 Text en Copyright © 2022 Cabibihan, El-Noamany, Ragab and Ang. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Cabibihan, John-John
El-Noamany, Ahmed
Ragab, Abdelrahman Mohamed
Ang, Marcelo H.
Guidelines for Robot-to-Human Handshake From the Movement Nuances in Human-to-Human Handshake
title Guidelines for Robot-to-Human Handshake From the Movement Nuances in Human-to-Human Handshake
title_full Guidelines for Robot-to-Human Handshake From the Movement Nuances in Human-to-Human Handshake
title_fullStr Guidelines for Robot-to-Human Handshake From the Movement Nuances in Human-to-Human Handshake
title_full_unstemmed Guidelines for Robot-to-Human Handshake From the Movement Nuances in Human-to-Human Handshake
title_short Guidelines for Robot-to-Human Handshake From the Movement Nuances in Human-to-Human Handshake
title_sort guidelines for robot-to-human handshake from the movement nuances in human-to-human handshake
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8996188/
https://www.ncbi.nlm.nih.gov/pubmed/35419414
http://dx.doi.org/10.3389/frobt.2022.758519
work_keys_str_mv AT cabibihanjohnjohn guidelinesforrobottohumanhandshakefromthemovementnuancesinhumantohumanhandshake
AT elnoamanyahmed guidelinesforrobottohumanhandshakefromthemovementnuancesinhumantohumanhandshake
AT ragababdelrahmanmohamed guidelinesforrobottohumanhandshakefromthemovementnuancesinhumantohumanhandshake
AT angmarceloh guidelinesforrobottohumanhandshakefromthemovementnuancesinhumantohumanhandshake