Design of a Realistic Robotic Head Based on Action Coding System

Abstract

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.

An Android for Emotional Interaction: Spatiotemporal Validation of Its Facial Expressions

“…However, although numerous studies have developed androids for emotional interactions (Kobayashi and Hara, 1993;Kobayashi et al, 2000;Minato et al, 2004Minato et al, , 2006Minato et al, , 2007Weiguo et al, 2004;Ishihara et al, 2005;Matsui et al, 2005;Berns and Hirth, 2006;Blow et al, 2006;Hashimoto et al, 2006Hashimoto et al, , 2008Oh et al, 2006;Sakamoto et al, 2007;Lee et al, 2008;Takeno et al, 2008;Allison et al, 2009;Lin et al, 2009Lin et al, , 2016Kaneko et al, 2010;Becker-Asano and Ishiguro, 2011;Ahn et al, 2012;Mazzei et al, 2012;Tadesse and Priya, 2012;Cheng et al, 2013;Habib et al, 2014;Yu et al, 2014;Asheber et al, 2016;Glas et al, 2016;Marcos et al, 2016;Faraj et al, 2021;Nakata et al, 2021; Table 1), few have empirically validated the androids that were developed. First, no study validated androids' AUs coded using FACS (Ekman and Friesen, 1978;Ekman et al, 2002).…”