Application of the FACS in the design and construction of a mechatronic head with realistic appearance

Loza, David; Marcos-Pablos, Samuel; Zalama, Eduardo; Gómez-García-Bermejo, Jaime; González, José Luís

doi:10.14198/jopha.2013.7.1.05

Cited by 15 publications

(11 citation statements)

References 23 publications

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“…Various methods have been proposed for generating several types of facial expressions in android robots [5][6][7][8][9][10][11]. However, most of these methods are based on FACS (facial action coding system [26]) for positioning and controlling the actuators to reproduce humanlike facial expressions or for modeling skin deformation based on mechanical deformation models.…”

Section: Related Workmentioning

confidence: 99%

“…Since android robots have a highly humanlike appearance, natural communication with humans can be achieved through several types of nonverbal information, such as facial expressions and head/body gestures. There are numerous studies regarding facial expression generation in robots [3][4][5][6][7][8][9][10][11]. Most of these are related to symbolic (static) facial expression of the six traditional emotions (happy, sad, anger, disgust, fear, and surprise).…”

Section: Introductionmentioning

confidence: 99%

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Motion Generation during Vocalized Emotional Expressions and Evaluation in Android Robots

Ishi¹

2020

Becoming Human With Humanoid - From Physical Interaction to Social Intelligence

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Vocalized emotional expressions such as laughter and surprise often occur in natural dialogue interactions and are important factors to be considered in order to achieve smooth robot-mediated communication. Miscommunication may be caused if there is a mismatch between audio and visual modalities, especially in android robots, which have a highly humanlike appearance. In this chapter, motion generation methods are introduced for laughter and vocalized surprise events, based on analysis results of human behaviors during dialogue interactions. The effectiveness of controlling different modalities of the face, head, and upper body (eyebrow raising, eyelid widening/narrowing, lip corner/cheek raising, eye blinking, head motion, and torso motion control) and different motion control levels are evaluated using an android robot. Subjective experiments indicate the importance of each modality in the perception of motion naturalness (humanlikeness) and the degree of emotional expression.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Motion Generation during Vocalized Emotional Expressions and Evaluation in Android Robots

Ishi¹

2020

Becoming Human With Humanoid - From Physical Interaction to Social Intelligence

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“…Nonetheless, there is no clear understanding in literature on the impact of robot anthropomorphism on interaction with humans [5].…”

Section: Design Of Facial Expression Mechanismmentioning

confidence: 99%

“…Nonetheless, there is no clear understanding in literature on the impact of robot anthropomorphism on interaction with humans [5]. whereas the rotation while engaged with actuating lever will generate the chosen expression.…”

Section: Artificial Face Skinmentioning

confidence: 99%

Humanoid Head Face Mechanism with Expandable Facial Expressions

Asheber

Lin

Yen

2016

International Journal of Advanced Robotic Systems

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Recently a social robot for daily life activities is becoming more common. To this end a humanoid robot with realistic facial expression is a strong candidate for common chores. In this paper, the development of a humanoid face mechanism with a simplified system complexity to generate human like facial expression is presented. The distinctive feature of this face robot is the use of significantly fewer actuators. Only three servo motors for facial expressions and five for the rest of the head motions have been used. This leads to effectively low energy consumption, making it suitable for applications such as mobile humanoid robots. Moreover, the modular design makes it possible to have as many face appearances as needed on one structure. The mechanism allows expansion to generate more expressions without addition or alteration of components. The robot is also equipped with an audio system and camera inside each eyeball, consequently hearing and vision sensibility are utilized in localization, communication and enhancement of expression exposition processes.

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“…A silicon skin is then added to this model, to complete the realistic look of the robotic head. For a complete description of the mechanical structure of the head please see [28]. …”

Section: Facs -Facial Action Code Systemmentioning

confidence: 99%

Design of a Realistic Robotic Head Based on Action Coding System

Marcos

Pinillos

Gómez-García-Bermejo

et al. 2015

Advances in Intelligent Systems and Computing

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Abstract. In this paper, the development of a robotic head able to move and show different emotions is addressed. The movement and emotion generation system has been designed following the human facial musculature. Starting from the Facial Action Coding System (FACS), we have built a 26 actions units model that is able to produce the most relevant movements and emotions of a real human head. The whole work has been carried out in two steps. In the first step, a mechanical skeleton has been designed and built, in which the different actuators have been inserted. In the second step, a two-layered silicon skin has been manufactured, on which the different actuators have been inserted following the real muscle-insertions, for performing the different movements and gestures. The developed head has been integrated in a high level behavioural architecture, and pilot experiments with 10 users regarding emotion recognition and mimicking have been carried out.

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Application of the FACS in the design and construction of a mechatronic head with realistic appearance

Cited by 15 publications

References 23 publications

Motion Generation during Vocalized Emotional Expressions and Evaluation in Android Robots

Motion Generation during Vocalized Emotional Expressions and Evaluation in Android Robots

Humanoid Head Face Mechanism with Expandable Facial Expressions

Design of a Realistic Robotic Head Based on Action Coding System

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