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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...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
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Frontiers Media S.A.
2022
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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 |
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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 |
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