摘要

A design of acceptable handing motion of arm-robots utilizing a transfer function, which is linearly transforming a synchronized trajectory of hand movement of receiver to the emotionally acceptable one for human minds, is presented. The transfer function was named as “Kansei”transfer function in this paper. Motions of robots that cooperatively support human should be emotionally acceptable for humans. To form such a movement, it is one of the effective methods for the robots to make its motion gentle when taking care of humans. First, human motion of handing an object to another human constrained in the vertical plane was analyzed and its features were extracted. Then, possibility of applying the clarified features to handing motions of a robot was examined. It was found that the movement characteristic of the hander could be approximated by linearly transforming the movement of the receiver, that is, the relationship of those two movements can be expressed by a transfer function. The second order lag element with suitable parameters was sufficient to describe the relationship. The parameters of the transfer function were experimentally determined and the resulting transfer function was tested in a series of handing experiments with a human receiver. Handing motions that are acceptable by human receivers on Kansei basis are realized by adjusting parameters in the transfer function.