anthropomorphic robotic eyes; effectiveness; emotion recognition; facial expression; healthcare; human-robot interaction; non-verbal communication; social robots; structural design; Emotions; Facial Expression; Humans; Movement; Robotic Surgical Procedures; Robotics; Anthropomorphic robotic eye; Design communication; Facial Expressions; Human eye; Humans-robot interactions; Mechanical systems; Non-verbal communications; Analytical Chemistry; Information Systems; Atomic and Molecular Physics, and Optics; Biochemistry; Instrumentation; Electrical and Electronic Engineering
Abstract :
[en] This paper shows the structure of a mechanical system with 9 DOFs for driving robot eyes, as well as the system's ability to produce facial expressions. It consists of three subsystems which enable the motion of the eyeballs, eyelids, and eyebrows independently to the rest of the face. Due to its structure, the mechanical system of the eyeballs is able to reproduce all of the motions human eyes are capable of, which is an important condition for the realization of binocular function of the artificial robot eyes, as well as stereovision. From a kinematic standpoint, the mechanical systems of the eyeballs, eyelids, and eyebrows are highly capable of generating the movements of the human eye. The structure of a control system is proposed with the goal of realizing the desired motion of the output links of the mechanical systems. The success of the mechanical system is also rated on how well it enables the robot to generate non-verbal emotional content, which is why an experiment was conducted. Due to this, the face of the human-like robot MARKO was used, covered with a face mask to aid in focusing the participants on the eye region. The participants evaluated the efficiency of the robot's non-verbal communication, with certain emotions achieving a high rate of recognition.
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Penčić, Marko ; Faculty of Technical Sciences, University of Novi Sad, Trg Dositeja Obradovića 6, 21000 Novi Sad, Serbia
Čavić, Maja; Faculty of Technical Sciences, University of Novi Sad, Trg Dositeja Obradovića 6, 21000 Novi Sad, Serbia
Oros, Dragana ; Faculty of Technical Sciences, University of Novi Sad, Trg Dositeja Obradovića 6, 21000 Novi Sad, Serbia
Vrgović, Petar ; Faculty of Technical Sciences, University of Novi Sad, Trg Dositeja Obradovića 6, 21000 Novi Sad, Serbia
Babković, Kalman; Faculty of Technical Sciences, University of Novi Sad, Trg Dositeja Obradovića 6, 21000 Novi Sad, Serbia
OROSNJAK, Marko ; Faculty of Technical Sciences, University of Novi Sad, Trg Dositeja Obradovića 6, 21000 Novi Sad, Serbia
Čavić, Dijana; Faculty of Technical Sciences, University of Novi Sad, Trg Dositeja Obradovića 6, 21000 Novi Sad, Serbia
External co-authors :
yes
Language :
English
Title :
Anthropomorphic Robotic Eyes: Structural Design and Non-Verbal Communication Effectiveness.
Acknowledgments: This research is supported by a scientific and technical cooperation between the Republic of Serbia and the People’s Republic of China through the project “The Development of a Socially Assistive Robot as a Key Technology in the Rehabilitation of Children with Cerebral Palsy”, under the contract 451-02-818/2021-09/19. We would like to thank Zhenli Lu, from the School of Electrical Engineering and Automation, Changshu Institute of Technology, People’s Republic of China, for his assistance in forming this paper and for providing constructive feedback which we happily adopted.
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