Human-Robot Handshaking: A Hybrid Deliberate/Reactive Model

  • Yingzi Zeng
  • Yanan Li
  • Pengxuan Xu
  • Shuzhi Sam Ge
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7621)


In this paper, we propose a hybrid deliberate/reactive model to achieve natural handshaking between human beings and robots. Our goal is to provide a perspective to achieve natural human-robot handshaking in addition to time/frequency based trajectory control. The proposed model consists of two parts. The reactive part is designed to enable the robot to follow the handshaking motion led by the human being, while the deliberate part is dedicated to embed a unique handshaking character into the robot. The validity of the proposed model is examined by comparing the trajectory and interaction force during the human-human and human-robot handshaking, respectively.


Hybrid Model Social Robot Haptic Interface Reactive Motion Proposed Hybrid Model 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Yingzi Zeng
    • 1
  • Yanan Li
    • 1
    • 2
  • Pengxuan Xu
    • 1
  • Shuzhi Sam Ge
    • 1
    • 3
  1. 1.Social Robotics Laboratory, Interactive Digital Media Institute, and Department of Electrical and Computer EngineeringNational University of SingaporeSingaporeSingapore
  2. 2.NUS Graduate School for Integrative Sciences and EngineeringNational University of SingaporeSingaporeSingapore
  3. 3.Robotics Institute, and School of Computer Science and EngineeringUniversity of Electronic Science and Technology of ChinaChengduChina

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