Development of Face Robot Actuated by Artificial Muscle

Face robots capable of expressing their emotional status, can be adopted as an e cient tool for friendly communication between the human and the machine. In this paper, we present a face robot actuated with arti cial muscle based on dielectric elastomer. By exploiting the properties of polymers, it is possible to actuate the covering skin, and provide human-like expressivity without employing complicated mechanisms. The robot is driven by seven types of actuator modules such as eye, eyebrow, eyelid, brow, cheek, jaw and neck module corresponding to movements of facial muscles. Although they are only part of the whole set of facial motions, our approach is su cient to generate six fundamental facial expressions such as surprise, fear, angry, disgust, sadness, and happiness. Each module communicates with the others via CAN communication protocol and according to the desired emotional expressions, the facial motions are generated by combining the motions of each actuator module. A prototype of the robot has been developed and several experiments have been conducted to validate its feasibility.