Design and evaluation of handover movement informing receiver of weight load

This paper presents the study results on the handover movement informing a receiver of the weight load as an example of the informative motion for the humansynergetic robot. To design and generate the movement depending on the weight load, the human movement is measured and analyzed, and four items are selected as the parameter to vary - the distance between target point and transferred point (in front-back direction), the distance between highest point and transferred point (in vertical direction), the elbow rotation angle, and the waist joint angle. The fitted curve of the parameter variation depending on the weigh load is obtained from the tendency of the subjects' movement data. The movement data for an arbitrary weight load is generated processing the standard data at 0 kg of weight load so that each parameter follows the fitted curve. From the questionnaire survey, although it is difficult for a receiver to estimate the exact weight load, he may distinguish the heavy weight load from the light weight load so that the package will be received safely and certainly.