1A1-S07 Cluster analysis of complex and various skin flow fields around human lips for enriching robot facial expressions
Nobuyuki OTA, Hisashi Ishihara, Minoru Asada · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2015
To enrich human-like robot facial expressions, robot designers should know how much and to which directions each human facial part moves for various facial expressions. However, combinations of facial part movements are too complex to determine appropriate design parameters of robot facial deformation mechanisms such as the number, locations, and orientations of actuators for realizing intended reproducibility of each human facial expression. This paper proposes an analysis method of various human facial expressions to determine the design parameters for human-like face robots. The proposed method superimposes several measured human skin flow fields, and extracts the direction of the first principal component of the motion vectors for each facial marker. Its contribution rate was 86%, which indicates each facial part moves almost only in one direction even when a human exhibits several facial expressions. Then, the proposed method estimates which face area moves similarly through cluster analysis of a vector field of the first principal component vector of each facial marker.