Toshiaki Tsuji

Development on face robot for real facial expressions

The goal of this study is to investigate the intelligence necessary for a machine such as a human-friendly robot working in an environment where humans and robots coexist. It seems to be required to manufacture a human-friendly robot that can communicate with human beings as a test bed or platform. Since face and facial expressions are crucial factors for communication, we have been developing a face robot which has a human-like face and can express facial expressions similar to human being. The important factors of the face robot for coexistence and communication with humans are: 1. human size and compactness; and 2. ease of control. While we have used air cylinders with pressurized air for the first-generation of face robot, to accomplish these two factors, we decided to use a SMA (shaped memory alloy) actuator driven by electricity and built the second-generation of face robot. Although we succeeded in making a human size face robot, it came to clear that the SMA does not have enough power and speed. To overcome these issues, we developed an air-tube-actuator driven by pressurized air and manufactured the third-generation of face robot. In the paper, we show how to build the third-generation of face robot and its basic ability.

Face robot-toward realtime-rich facial expressions

We do not know yet whether human-like face and facial expressions are necessary for robots and because to realize them is an engineering challenge and we want to express, realize and analyze the sensitive human-robot communication especially through facial expressions, we have been developing a series of face robots. In 1993, we built the first one and realized 6 typical facial expressions. However, it was 1.5 times bigger than a human face and very heavy (15 kg). To overcome the drawback we decided to use SMA (shaped memory alloy) actuators driven by electricity and built the second-generation of the face robot in 1998. Although we succeeded in making a human size second-generation of face robot, it became clear that the SMA actuator does not have enough power and speed. To solve these issues, we developed an air-tube-actuator driven by pressurized air and manufactured the third-generation of face robot. In the paper, we present how to build the third-generation of face robot and its basic ability in terms of real time-rich facial expressions.