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Roboy 3.0 is a soft & compliant system: In this video it can be clearly seen how the recipient safely shakes the robots hand, overriding the operators motion, thereby making the handshake natural for both recipient and operator.
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Hug
Due to the compliant and save nature of the robot, it exhibits only a minimal contact force to the recipient, just enough to feel the hug. The calibration is set so that the hands are maximally closed when the operator hugs herself, thereby giving her haptic feedback on the hug - giving both the recipient and the operator some feeling of being hugged. (The self-hug lacks the touch component on the back of the operator and as such is not fully congruent with the real experience of being hugged, it still conveys some haptic feedback component).
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