Interaction between humans and their fellows in handshake phase
The questions of interaction between humans with humanoid robots in the phase of handshake are considered in this article. Particular attention is given to the approach phase of handshake and its individual stages. Literature distinguishes between four phases of a handshake. The first phase in this case is not accompanied by significant efforts and movement of hands. Therefore, we have taken into account the three active phases when velocity, acceleration and force change substantially. The test results showed the dependence of the characteristics of a handshake on physical and mental state of the subjects. Oscillation frequency velocity, acceleration and efforts are in the range of several hertz. Dependence of handshake efforts can be transformed into a trapezoid for its active phase. It is recommended to develop a robot control algorithm to form the optimal dependence of efforts during handshake.