For some years now, the use of social, anthropomorphic robots in various situations has been on the rise. These are robots developed to interact with humans and are equipped with corresponding extremities. They already support human users in various industries, such as retail, gastronomy, hotels, education and healthcare. During such Human-Robot Interaction (HRI) scenarios, physical touch plays a central role in the various applications of social robots as interactive non-verbal behaviour is a key factor in making the interaction more natural. Shaking hands is a simple, natural interaction used commonly in many social contexts and is seen as a symbol of greeting, farewell and congratulations. In this paper, we take a look at the existing state of Human-Robot Handshaking research, categorise the works based on their focus areas, draw out the major findings of these areas while analysing their pitfalls. We mainly see that some form of synchronisation exists during the different phases of the interaction. In addition to this, we also find that additional factors like gaze, voice facial expressions etc. can affect the perception of a robotic handshake and that internal factors like personality and mood can affect the way in which handshaking behaviours are executed by humans. Based on the findings and insights, we finally discuss possible ways forward for research on such physically interactive behaviours.

几年来，在各种情况下使用社交拟人机器人的人数一直在上升。这些是为与人类互动而开发的机器人，并配备了相应的肢体。他们已经为零售，美食，酒店，教育和医疗保健等各个行业的人类用户提供支持。在这种人机交互（HRI）场景中，物理触摸在社交机器人的各种应用中起着核心作用，因为交互非语言行为是使交互更加自然的关键因素。握手是一种简单，自然的互动方式，通常在许多社交场合中使用，被视为问候，告别和祝贺的象征。在本文中，我们研究了“人机握手”研究的现状，并根据研究的重点领域对其进行了分类，在分析这些陷阱的过程中，得出了这些区域的主要发现。我们主要看到在交互的不同阶段存在某种形式的同步。除此之外，我们还发现诸如凝视，语音面部表情等其他因素会影响机器人握手的感知，而诸如性格和情绪之类的内部因素会影响人类执行握手行为的方式。基于这些发现和见解，我们最终讨论研究此类物理交互行为的可能方法。可能会影响对机器人握手的感知，并且诸如性格和情绪之类的内部因素会影响人类执行握手行为的方式。基于这些发现和见解，我们最终讨论研究此类物理交互行为的可能方法。可能会影响对机器人握手的感知，并且诸如性格和情绪之类的内部因素会影响人类执行握手行为的方式。基于这些发现和见解，我们最终讨论研究此类物理交互行为的可能方法。