Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Face Robot Actuated with Artiflcial Muscle

인공근육을 이용한 얼굴로봇

  • 곽종원 (성균관대학교 기계공학과) ;
  • 지호준 (성균관대학교 기계공학과) ;
  • 정광목 (성균관대학교 기계공학과) ;
  • 남재도 (성균관대학교 응용화학부) ;
  • 전재욱 (성균관대학교 전기전자컴퓨터공학) ;
  • 최혁렬 (성균관대학교 기계공학부)
  • Published : 2004.11.01
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Abstract

Face robots capable of expressing their emotional status, can be adopted as an efficient tool for friendly communication between the human and the machine. In this paper, we present a face robot actuated with artificial muscle based on dielectric elastomer. By exploiting the properties of polymers, it is possible to actuate the covering skin, eyes as well as 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 sufficient to generate six fundamental facial expressions such as surprise, fear, anger, disgust, sadness, and happiness. Each module communicates with the others via CAN communication protocol fur 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.

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References

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