Real Time Dynamic Control of 6 Basic Facial Expressions on Face Robot
Real Time Dynamic Control of 6 Basic Facial Expressions on Face Robot
复制标题
人脸机器人6种基本面部表情的实时动态控制
DOI：
10.7210/jrsj.14.677
复制
发表时间：
1996
期刊：
影响因子：
--
通讯作者：
F. Hara
中科院分区：
文献类型：
--
作者：
Hiroshi Kobayashi;F. Hara
为了开发能够实现智能机器与人之间“心到心”虚拟交流的gActive人机界面（gActive Human Interface），我们已经报道了利用柔性微致动器（flexible microactuators， FMA）设计的具有仿人面孔并能表现出类似人的面部表情的gFace机器人（gFace Robot）。为了实现它们之间的实时交流，我们认为人脸机器人需要以几乎与人类相同的速度和方式来表达面部表情。然而，我们发现使用FMA是不可能做到这一点的。然后介绍了用于人脸机器人面部表情实时显示的新型微型执行器gACDIS•h的研制及其控制方法。我们开发了双作用活塞式执行器。为了实现对人脸机器人面部表情控制所必需的位置位移测量，我们在ACDIS内部安装了LED和光电晶体管；通过测量光电晶体管的输出电压，可以测量出ACDIS中活塞运动的位移。通过与目标位置和速度的比较，控制电磁阀的开启时间，实现ACDIS的位移控制。我们进行了实时的面部表情显示实验，确认成功实现了人脸机器人的类人面部表情显示。
In order to develop •gActive Human Interface•h that realizes •ghear-to-heart•h virtual communication between intelligent machine and human being, we have already reported the •gFace Robot•h that has a human-like face and can display facial expressions similar to those of human being by using the flexible microactuators (FMA). For realizing a real-time communication between them, we think that the face robot needs to express facial expressions at almost the same speed and in same manner as in human being. However we found that it is impossible to do this by using FMA. Then this paper deals with the development of new mini-actuator •gACDIS•h for the real-time display of face robot's facial expressions and also their control method. We develop double action piston type actuator. For the measurement of displacement of a position in ACDIS which is essential for controlling the facial expression of the face robot, we equip a LED and a photo-transistor inside the ACDIS; and by measuring the output voltage of the photo -transistor , we can measure the displacement of the piston movement in ACDIS. The opening time of electro magnetic valve is controlled for the displacement control of ACDIS by comparing the present position and velocity with target ones. We undertake the real-time facial expression display experiment and confirm that the human-like-display of facial expression on the face robot is successfully realized.