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When robots coexisting with humans are designed, it is important to evaluate the influence of the shape and size of the robots and their motions on human sense of security. For this purpose, an evaluation system of human sense of security for coexisting robots using virtual reality is discussed. Virtual robots are visually presented to a human subject through a head mounted display; the subject and the robots coexist in the virtual world. Some kinds of physiological indices of the subject are measured, he answers the questionnaire about his impression of the robots, and his sense of security is evaluated. Because of using virtual reality technique, the shape and size of the robots and their motions can be easily changed and tested. In the present report, pick and place motion of humanoid robots is evaluated. As a result of analyzing the questionnaire, it is found that turning the body coordinating with the arm gives good impression on humans.
NONAKA et al. (2004) studied this question.