Development of the Face Robot SAYA for Rich Facial Expressions
Development of the Face Robot SAYA for Rich Facial Expressions
复制标题
DOI：
10.1109/sice.2006.315537
复制
发表时间：
2006-12
期刊：
影响因子：
--
通讯作者：
T. Hashimoto;Sachio Hitramatsu;Toshiaki Tsuji;Hiroshi Kobayashi
中科院分区：
文献类型：
--
作者：
T. Hashimoto;Sachio Hitramatsu;Toshiaki Tsuji;Hiroshi Kobayashi
本研究的目的是开发一种与人类进行情感交流的交互式通信系统。由于面部及其表情是自然交流中最重要的角色，因此我们一直在开发一种可以表达与人类相似的面部表情的面部机器人。在这项研究中，我们展示了一种新型面部机器人SAYA。所有McKibben气动执行器都像人类肌肉一样分布到面部表面，以改善面部机器人的结构和面部肌肉运动（动作单元）以实现自然的面部表情。由于螺旋弹簧的弯曲方式可能类似于人类颈椎，因此我们利用螺旋弹簧开发了新的头部运动机构，以实现类似人类的头部运动。在本文中，我们描述了面部机器人SAYA的结构以及构建新颈部机构的方法。我们已经确认SAYA具有表达精细面部表情的能力
The purpose of this study is to develop an interactive communication system that communicates with human beings emotionally. Since the face and its expressions are the most important role for natural communication, we have been developing a face robot that can express facial expressions similar to human beings. In this study, we show a new type face robot SAYA. All McKibben pneumatic actuators are distributed to the surface of the face like a human muscle in order to improve the structure of the face robot and facial muscle movement (Action unit) for natural facial expressions. Since the bending manner of coil spring might be similar to human cervical vertebra, we developed the new head motion mechanism by using coil spring for realizing human like head motion. In this paper, we describe the structure of face robot SAYA and the way of constructing new neck mechanism. We have confirmed that SAYA has ability to express fine facial expressions