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 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
Article PDF
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.Avoid common mistakes on your manuscript.
References
Ahn, K and Tanh, T, 2004, “Improvement of the Control Performance of Pneumatic Artificial Muscle Manipulators Using an Intelligent Switching Control Method,”KSME Journal, Vol 18, No 8, pp 1388–1400
Breazeal, C and Scassellati, B, 1999, “How to Build Robots that Make Friends and Influence People,”Proc. IEEE/RSJ Int. Conf on Intelligent Robots and Systems, pp 858-863
Choi, H R, Jung, K M., Kwak, J W, Lee, S W, Kim, H M, Jeon, J W and Nam, J D, 2003, “Multiple Degree-of-freedom Digital Soft Actuator for Robotic Application,”Proc of SPIE Symp on Smart Structure and Materials. EAPAD, pp 262-271
Choi, H R, Jung, K M, Kwak, J W, Lee, S W, Kim, H. M., Jeon, J. W and Nam, J D, 2003, “Digital Polymer Motor for Robotic Applications,”Proc. of IEEE Int. Conf on Robotics and Automation, pp 1857-1862
Edsinger, A, O’Reilly, U and Breazeal, C, 2000, “Personality Through Faces for Humanoid Robots,”Proc. of IEEE Int. Workshop on Robot and Human Interactive Communication, pp 340-345
Ekman, P and Fnesen, W V, 1977, “Facial Action Coding System,” Consulting Psychologist Press
Hanson, D, Pioggia, G, Yoseph Bar-Cohen, Rossi, D de, 2001, “Androids Application of EAP as Artificial Muscles to Entertainment Industry,”Proc. of SPIE Symp on Smart Structure and Materials. EAPAD, pp 375-379
Kobayashi, H and Hara, F, 1993, “Study on Face Robot for Active Human Interface,”Proc of IEEE Int. Workshop on Robot and Human Communication
Kobayashi, H, Ichikawa, Y, Senda, M and Shuba, T, 2002, “Toward Rich Facial Expression by Face Robot,”Proc. of Int Symp. on Micromechatronics and Human Science, pp 139-145
Kobayashi, H, Akasawa, H and Hara, F, 1999, “Study on New Face Robot Platform for Robot-Human Communication,”Proc. of IEEE Int. Workshop on Robot and Human Communication, pp 242-247
Kobayashi, H, Ichikawa, Y, Tsuji, T and Kikuchi, K, 2001, “Development on Face Robot for Real Facial Expression,”Proc of IEEE/RSJ Int Conf. on Intelligent Robots and Systems, pp 2215-2220
Miwa, H, Takanishi, A and Takanobu, H, 2001, “Experimental Study on Robot Personality for Humanoid Head Robot,”Proc of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp 1183-1188
Pelrine, R E Kornbluh, R D and Joseph, J P, 1998, “Electrostnction of Polymer Dielectrics with Compliant Electrodes as a Means of Actuation,”Sensors and Actuators A Physical, Vol 64, No 1, pp 77–85
Yoseph Bar-Cohen, 2004, “Electroactive Polymer (EAP) Actuators as Artificial Muscles, Reality, Potential, and Challenges,” 2nd ed, SPIE Press
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Kwak, J.W., Chi, H.J., Jung, K.M. et al. A face robot actuated with artificial muscle based on dielectric elastomer. J Mech Sci Technol 19, 578–588 (2005). https://doi.org/10.1007/BF02916180
Received:
Revised:
Published:
Issue Date:
DOI: https://doi.org/10.1007/BF02916180