• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.281-288
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• 2009

Nowadays, many robots have evolved to imitate human social skills such that sociable interaction with humans is possible. Socially interactive robots require abilities different from that of conventional robots. For instance, human-robot interactions are accompanied by emotion similar to human-human interactions. Robot emotional expression is thus very important for humans. This is particularly true for facial expressions, which play an important role in communication amongst other non-verbal forms. In this paper, we introduce a method of creating lifelike facial expressions in robots using variation of affect values which consist of the robot's emotions based on emotional boundaries. The proposed method was examined by experiments of two facial robot simulators.

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.203-215
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• 2023

Social robots, which are mainly used by individuals, emphasize the importance of human-robot relationships (HRR) more compared to other types of robots. Emotional expression in robots is one of the key factors that imbue HRR with value; emotions are mainly expressed through the face. However, because of cultural and preference differences, the desired robot facial expressions differ subtly depending on the user. It was expected that a robot facial expression customization tool may mitigate such difficulties and consequently improve HRR. To prove this, we created a robot facial expression customization tool and a prototype robot. We implemented a suitable emotion engine for generating robot facial expressions in a dynamic human-robot interaction setting. We conducted experiments and the users agreed that the availability of a customized version of the robot has a more positive effect on HRR than a predefined version of the robot. Moreover, we suggest recommendations for future improvements of the customization process of robot facial expression.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.495-502
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• 2014

This paper proposes a method to generate diverse robot facial expressions and facial gestures in order to help long-term HRI. First, nine basic dynamics for diverse robot facial expressions are determined based on the dynamics of human facial expressions and principles of animation for even identical emotions. In the second stage, facial actions are added to express facial gestures such as sniffling or wailing loudly corresponding to sadness, laughing aloud or smiling corresponding to happiness, etc. To evaluate the effectiveness of our approach, we compared the facial expressions of the developed robot when the proposed method is used or not. The results of the survey showed that the proposed method can help robots generate more realistic facial expressions.

• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.282-287
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• 2007

Humanoid and android robots are emerging as a trend shifts from industrial robot to personal robot. So human-robot interaction will increase. Ultimate objective of humanoid and android would be a robot like a human. In this aspect, implementation of robot's facial expression is necessary in making a human-like robot. This paper proposes a dynamic emotion model for a mascot-type robot to display similar facial and more recognizable expressions.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.991-999
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• 2004

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.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.255-263
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• 2006

In the last decade, face analysis, e.g. face detection, face recognition, facial expression recognition, is a very lively and expanding research field. As computer animated agents and robots bring a social dimension to human computer interaction, interest in this research field is increasing rapidly. In this paper, we introduce an artificial emotion mimic system which can recognize human facial expressions and also generate the recognized facial expression. In order to recognize human facial expression in real-time, we propose a facial expression classification method that is performed by weak classifiers obtained by using new rectangular feature types. In addition, we make the artificial facial expression using the developed robotic system based on biological observation. Finally, experimental results of facial expression recognition and generation are shown for the validity of our robotic system.

• Journal of Broadcast Engineering
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• v.25 no.4
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• pp.537-544
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• 2020

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.

• Journal of Mechanical Science and Technology
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• v.19 no.2
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• pp.578-588
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• 2005

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 dielectric elastomer, 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 actuator modules such 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, angry, disgust, sadness, and happiness. In the robot, each module communicates with the others via CAN communication protocol and according to 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.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1229-1234
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• 2004

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

• The Journal of the Korea Contents Association
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• v.15 no.2
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• pp.74-85
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• 2015

The positive effect of percussion instruments can induce increases in self-esteem and decreases in depression in the elderly. Based on this, the content for a percussion instrument robot that the elderly can use to play music is developed. The elements of the interaction between the elderly and the robot through the robot content are extracted. Music that arouses positive memories in the elderly is selected as part of the music therapy robot content in order to relieve depression, and a scoring system for playing music is constructed. In addition, the interaction components of the robot's facial expressions, which stimulate emotions and sensitivity in the elderly, are also designed. These components enable the elderly to take an active part in using the instrument to change the robot's facial expressions, which have three degrees of emotion: neutral-happy, happy, and very happy. The robot is not only a music game machine: it also maximizes the relief of depression in the elderly through interactions with the robot that allow the elderly person to listen to what the robot plays and through the elderly person becoming involved and playing music along with the robot.