Proposal for Robot Hand and Forearm Design to Reproduce Humantohuman Physical Contact If a robot can reproduce humantohuman physical contact, it may be used to relieve humansxe2x80x99 stress for example. In our previous work, we made a prototype of an artificial hand aiming to reproduce humantohuman physical contact. It has both active touch functions and passive touch reproducibility. And, we conducted participant experiments for humanlike touch feel evaluation and control experiments. We designed the temperature system, which the 1st prototype didnxe2x80x99t have, keeping the elements of the 1st prototype that were evaluated humanlike at the previous participant experiment. And aiming at reproducing communication, we added sensors to feel the other person (we referred to the result of the control experiment). We also designed the artificial forearm with the aim of moving the hand actively. We made the above designs, the 2nd prototype, and tested whether the design worked well.

Coupling of Arm Movements during HumanRobot Interaction: the handover case Collaboration involves understanding the action of others, as well as acting in a way that can be understood by others. One of those tasks is the handover. In this paper, we study the behaviour of humans during the handover and design the mechanisms allowing a robot to learn from that behaviour.We analyse and model the arm movements of humans while handing over objects to one another. The contributions of this paper are the following: (i) a computational model that captures the behaviour of the xe2x80x9cgiverxe2x80x9d and xe2x80x9creceiverxe2x80x9d of the object, by coupling the arm motion; (ii) discuss this approach amidst a previous coupling strategy; and (iii) embedded the model in the iCub robot for human to robot handovers.Our results show that: (i) the robot can coordinate with the human to timely and safely receive the object; (ii) the robot behaves in a xe2x80x9chumanlikexe2x80x9d manner while receiving the object; and (iii) our approach has significant advantages to the previous approach.