For the realization of the motion of a robot holding an object out to a human, which takes individual difference of affinity into account, we construct a system in which human can adjust the motion characteristics of the robot using voice instruction. Acurved path is considered as an adjustable characteristic of the motion in addition to the conventional characteristics such as velocityprofile, maximum velocity, and receiving point. The effectiveness of introducing the curved path is discussed in this research. Thecurved path is characterized by two parameters: one is the offset, which is maximum deflection from straight path, and the other is theposition of the offset. These parameters can be adjusted by the human using the voice instruction. It is clarified from the actualparameter adjustment by human subjects that the curved path is one of the important characteristics affecting human psychology, andthe desirable values of the offset and the position of the offset show individual differences.