Evaluating facial displays of emotion for the android robot Geminoid F

Becker-Asano, Christian; Ishiguro, Hiroshi

doi:10.1109/waci.2011.5953147

Cited by 92 publications

(46 citation statements)

References 16 publications

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“…Lim et al [21] introduced for the first time emotional walking with the robot WABIAN-RII in 2004. Among other humanoids such as ASIMO or HRP-2, only Geminoid F expresses emotions and only its face is used [22]. However until now, the gait was not used as medium to convey information to people in the robots' surroundings or during direct interaction.…”

Section: Introductionmentioning

confidence: 99%

Emotional gait: Effects on humans' perception of humanoid robots

Destephe

Brandão

Kishi

et al. 2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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Section: Introductionmentioning

confidence: 99%

Emotional gait: Effects on humans' perception of humanoid robots

Destephe

Brandão

Kishi

et al. 2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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“…Neck with 2 DOFs -movements about the yaw and pitch axes, have ASIMO [10], HUBO [11], HRP-4 [12], EveR1 [13], NAO [14], AILA [15], TORO [16], Justin [17], Pepper [18] etc.Neck with3 DOFs -movements about the yaw, roll and pitch axes, haveWABIAN-2 [19], Albert HUBO [20], HRP-4C [21], Affetto [22], iCub [23], Probo [24], EveR-2 [25], Geminoid F [26], Actroid-F [27] etc.Neck with4 DOFs -yaw, roll, upper and lower pitch movements, haveWE-4RII [28], ARMAR-III [29], ROMAN [30], KOBIAN [31], SAYA [32], BARTHOC [33], Romeo [34], Flutist Robot WF-4 [35], Twente Humanoid Head [36] etc.Neck structures with 2, 3 or 4 DOFs usually consist of rigid and low backlash mechanisms that are interconnected -harmonic drive, cable-driven mechanisms, spindle drive, low backlash gears, etc. In addition to high reliability and carrying capacity, the advantage of these mechanisms is low backlash that provide high positioning accuracy and repeatability of movements.…”

Section: State Of the Artmentioning

confidence: 99%

Assistive humanoid robot MARKO: development of the neck mechanism

et al. 2017

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Abstract.The paper presents the development of neck mechanism for humanoid robots. The research was conducted within the project which is developing a humanoid robot Marko that represents assistive apparatus in the physical therapy for children with cerebral palsy.There are two basic ways for the neck realization of the robots. The first is based on low backlash mechanisms that have high stiffness and the second one based on the viscoelastic elements having variable flexibility. We suggest low backlash differential gear mechanism that requires small actuators. Based on the kinematic-dynamic requirements a dynamic model of the robots upper body is formed. Dynamic simulation for several positions of the robot was performed and the driving torques of neck mechanism are determined.Realized neck has 2 DOFs and enables movements in the direction of flexion-extension 100°, rotation ±90° and the combination of these two movements. It consists of a differential mechanism with three spiral bevel gears of which the two are driving and are identical, and the third one which is driven gear to which the robot head is attached. Power transmission and motion from the actuators to the input links of the differential mechanism is realized with two parallel placed gear mechanisms that are identical.Neck mechanism has high carrying capacity and reliability, high efficiency, low backlash that provide high positioning accuracy and repeatability of movements, compact design and small mass and dimensions.

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“…Using their face as their prior affective interface, and as an identification provider, androids and other agents embody emotional facial expressions, and convey messages on their identity, gender, age, race, and attractiveness through their static and slow facial signals [2,8]. Related research on the rapid signals can be found in [9,10].…”

Section: Introductionmentioning

confidence: 99%

Towards Designing Android Faces After Actual Humans

Vlachos

Schärfe

2015

Agent and Multi-Agent Systems: Technologies and Applications

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Using their face as their prior affective interface, android robots and other agents embody emotional facial expressions, and convey messages on their identity, gender, age, race, and attractiveness. We are examining whether androids can convey emotionally relevant information via their static facial signals, just as humans do. Based on the fact that social information can be accurately identified from still images of nonexpressive unknown faces, a judgment paradigm was employed to discover, and compare the style of facial expressions of the Geminoid-DK android (modeled after an actual human) and its' Original (the actual human). The emotional judgments were achieved through an online survey with video-stimuli and questionnaires, following a forced-choice design. Analysis of the results indicated that the emotional judgments for the Geminoid-DK highly depend on the emotional judgments initially made for the Original, suggesting that androids inherit the same style of facial expression as their originals. Our findings support the case of designing android faces after specific actual persons who portray facial features that are familiar to the users, and also relevant to the notion of the robotic task, in order to increase the chance of sustaining a more emotional interaction.

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Evaluating facial displays of emotion for the android robot Geminoid F

Cited by 92 publications

References 16 publications

Emotional gait: Effects on humans' perception of humanoid robots

Emotional gait: Effects on humans' perception of humanoid robots

Assistive humanoid robot MARKO: development of the neck mechanism

Towards Designing Android Faces After Actual Humans

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