Abstract
In this paper, the development of a robotic head able to move and show different emotions is addressed. The movement and emotion generation system has been designed following the human facial musculature. Starting from the Facial Action Coding System (FACS), we have built a 26 actions units model that is able to produce the most relevant movements and emotions of a real human head. The whole work has been carried out in two steps. In the first step, a mechanical skeleton has been designed and built, in which the different actuators have been inserted. In the second step, a two-layered silicon skin has been manufactured, on which the different actuators have been inserted following the real muscle-insertions, for performing the different movements and gestures. The developed head has been integrated in a high level behavioural architecture, and pilot experiments with 10 users regarding emotion recognition and mimicking have been carried out.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Darwin, C.: The Expression of Emotions in Man and Animals. (872). John Murray, reprinted by University of Chicago Press (1965)
Duffy, B.R.: Anthropomorphism and the social robot. Robotics and Autonomous Systems 42, 177–190 (2003)
Mori, M.: The uncanny valley. Energy 7(4), 33–35 (1970)
Dautenhahn, K., Werry, I.: Towards interactive robots in autism therapy: background, motivation and challenges. Pragmatics and Cognition 12(1), 1–35 (2004)
Marcos, S., Gmez, J., Zalama, E., Lpez, J.: Dynamic Facial Emotion Recognition Oriented to HCI Applications. Interacting with Computers 27(2), 99–119 (2015)
Saugis, G., Chaillou, C., Degrande, S., Viaud, M.L., Dumas, C: A 3-D interface for cooperative work. In: Proceedings of the Conference on Collaborative Virtual Environments, pp. 17–19 (1998)
Paiva, A., Machado, I.: The child behind the character. IEEE Journal on Systems Man and Cybernetics, Part A 31(5), 361–368 (2001)
Nass, C., Reeves, B.: The Media Equation, How People Treat Computers, Television and New Media Like Real People and Places. Cambridge University Press (1996)
Bartneck, C.: An Embodied Emotional Character for the Ambient Intelligent Home. Ph.D. thesis, Technische Universiteit Eindhoven (1982)
Koda, T., Ishida, T.: Cross-cultural study of avatar expression interpretations. In: International Symposium on Applications on Internet, pp. 130–136 (2006)
Deng, Z., Hiscock, M., Yun, C.: Can local avatars satisfy a global audience? A case study of high-fidelity 3D facial avatar animation in subject identification and emotion perception by us and international groups. Computers in Ententairment 7(2), 1–26 (2009)
Kanda, T., Ishiguro, H., Hagita, N., Bartneck, C: Is the uncanny valley an uncanny cliff? In: Proceedings of the 16th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2007, pp. 368–373 (2007)
Nishio, S., Hiroshi Ishiguro, I., Hagita, N.: Humanoid Robots, New Developments, pp. 343–352. I-Tech Education and Publishing (2007)
Mazzei, D., Lazzeri, N., Hanson, D., De Rossi, D.: Hefes: an hybrid engine for facial expressions synthesis to control human-like androids and avatars. In: 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 195–200 (2012)
Hanson, D.F.: U.S. Patent No. 8,594,839. Washington, DC: U.S. Patent and Trademark Office (2013)
Beira, R., Lopes, M., Praga, M., Santos-Victor, J., Bernardino, A., Metta, G., Becchi, F., Saltaren, R.: Design of the robot-cub (iCub) head. IEEE International Conference on Robotics and Automation 51, 94–100 (2006)
Breazeal, C.: Sociable Machines: Expressive Social Exchange Between Humans and Robots. Ph.D. thesis, MIT (2000)
Itoh, K., Miwa, H., Nukariya, Y., Zecca, M., Takanobu, H., Roccella, S., Carrozza, M. C., Dario, P., Takanishi, A. : Mechanisms and functions for a humanoid robot to express human-like emotions. In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation (2006)
Kaneiro, F., et. al.: Cybernetic human HRP-4C: A humanoid robot with human-like proportions. Springer Tracts in Advanced Robotics, vol. 70, pp. 301–314 (2011)
Kobayashi, H., Hashimoto, T., Hiramatsu, S.: Development of face robot for emotional communicaion between human and robot. In: Proceedings of IEEE International Conference on Mechatronics and Automation, vol. 54, pp. 25–30 (2006)
Berns, K., Hirth, J., Schmitz, N.: Emotional architecture for the humanoid robot head roman. In: Proceedings of IEEE International Conference on Mechatronics and Automation, vol. 53, pp. 2150–2155 (2007)
Sadoyama, T., Sugahara, T., Hashimot, M., Yokogawa, C.: Development of a face robot imitating human muscle structures. Journal of Robotics and Mechatronics 19, 324–330 (2007)
Friesen, W.V., Ekman, P.: Facial Action Coding System. Consulting Psychologists Press, Palo Alto (1978)
Tronick, E., Als, H., Brazelton, T.B.: Monadic phases: A structural descriptive analysis of infant-mother face to face interaction. Merrill-Palmer Quarterly of Behavior and Development 26(1), 3–24 (1980)
Izard, C.: Innate and universal facial expressions: Evidence from developmental and cross-cultural research. American Psychological Association 115, 288–299 (1994)
Ekman, P., Friesen, W.V.: Facial action coding system: A technique for the measurement of facial movement. Consulting Psychologists Press (1978)
Marcos, S., Gómez-García-Bermejo, J., Zalama, E.: A realistic, virtual head for human-computer interaction. Interacting with Computers 22, 176–192 (2010)
Loza, D., Marcos, S., Gómez-García-Bermejo, J., Zalama, E.: Application of the FACS in the Design and Construction of a Mechatronic Head with Realistic Appearance. Journal of Physical Agents 7(1), 30–37 (2013)
Montagne, B., Kessels, R.P.C., Frigerio, E., de Haan, E.H.F., Perrett, D.I.: Sex differences in the perception of affective facial expressions: Do men really lack emotional sensitivity? Cognitive Processing 6(2), 136–141 (2015)
Pierce, B., Kuratate, T., Vogl, C., Cheng, G.: Mask-Bot 2i: An active customisable Robotic Head with Interchangeable Face. In: 12th IEEE-RAS International Conference on Humanoid Robots, pp. 520–525 (2012)
Cid, F., Moreno, J., Bustos, P., Nez, P.: Muecas: A Multi-Sensor Robotic Head for Affective Human Robot Interaction and Imitation. Sensors 14(5), 7711–7737 (2014)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Marcos, S., Pinillos, R., García-Bermejo, J.G., Zalama, E. (2016). Design of a Realistic Robotic Head Based on Action Coding System. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 418. Springer, Cham. https://doi.org/10.1007/978-3-319-27149-1_33
Download citation
DOI: https://doi.org/10.1007/978-3-319-27149-1_33
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-27148-4
Online ISBN: 978-3-319-27149-1
eBook Packages: Computer ScienceComputer Science (R0)