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http://dx.doi.org/10.5909/JBE.2020.25.4.537

Development of FACS-based Android Head for Emotional Expressions  

Choi, Dongwoon (Applied Robot R&D Department, Korea Institute of Industrial Technology)
Lee, Duk-Yeon (Applied Robot R&D Department, Korea Institute of Industrial Technology)
Lee, Dong-Wook (Applied Robot R&D Department, Korea Institute of Industrial Technology)
Publication Information
Journal of Broadcast Engineering / v.25, no.4, 2020 , pp. 537-544 More about this Journal
Abstract
This paper proposes the creation of an android robot head based on the facial action coding system(FACS), and the generation of emotional expressions by FACS. The term android robot refers to robots with human-like appearance. These robots have artificial skin and muscles. To make the expression of emotions, the location and number of artificial muscles had to be determined. Therefore, it was necessary to anatomically analyze the motions of the human face by FACS. In FACS, expressions are composed of action units(AUs), which work as the basis of determining the location and number of artificial muscles in the robots. The android head developed in this study had servo motors and wires, which corresponded to 30 artificial muscles. Moreover, the android head was equipped with artificial skin in order to make the facial expressions. Spherical joints and springs were used to develop micro-eyeball structures, and the arrangement of the 30 servo motors was based on the efficient design of wire routing. The developed android head had 30-DOFs and could express 13 basic emotions. The recognition rate of these basic emotional expressions was evaluated at an exhibition by spectators.
Keywords
android; robot; robot face; emotion; FACS;
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