Fusing face and body gesture for machine recognition of emotions

Research shows that humans are more likely to consider computers to be human-like when those computers understand and display appropriate nonverbal communicative behavior. Most of the existing systems attempting to analyze the human nonverbal behavior focus only on the face; research that aims to integrate gesture as an expression mean has only recently emerged. This paper presents an approach to automatic visual recognition of expressive face and upper body action units (FAUs and BAUs) suitable for use in a vision-based affective multimodal framework. After describing the feature extraction techniques, classification results from three subjects are presented. Firstly, individual classifiers are trained separately with face and body features for classification into FAU and BAU categories. Secondly, the same procedure is applied for classification into labeled emotion categories. Finally, we fuse face and body information for classification into combined emotion categories. In our experiments, the emotion classification using the two modalities achieved a better recognition accuracy outperforming the classification using the individual face modality. © 2005 IEEE

Fusing face and body display for Bi-modal emotion recognition: Single frame analysis and multi-frame post integration

This paper presents an approach to automatic visual emotion recognition from two modalities: expressive face and body gesture. Pace and body movements are captured simultaneously using two separate cameras. For each face and body image sequence single "expressive" frames are selected manually for analysis and recognition of emotions. Firstly, individual classifiers are trained from individual modalities for mono-modal emotion recognition. Secondly, we fuse facial expression and affective body gesture information at the feature and at the decision-level. In the experiments performed, the emotion classification using the two modalities achieved a better recognition accuracy outperforming the classification using the individual facial modality. We further extend the affect analysis into a whole image sequence by a multi-frame post integration approach over the single frame recognition results. In our experiments, the post integration based on the fusion of face and body has shown to be more accurate than the post integration based on the facial modality only. © Springer-Verlag Berlin Heidelberg 2005

EEG-Based Empathic Safe Cobot

An empathic collaborative robot (cobot) was realized through the transmission of fear from a human agent to a robot agent. Such empathy was induced through an electroencephalographic (EEG) sensor worn by the human agent, thus realizing an empathic safe brain-computer interface (BCI). The empathic safe cobot reacts to the fear and in turn transmits it to the human agent, forming a social circle of empathy and safety. A first randomized, controlled experiment involved two groups of 50 healthy subjects (100 total subjects) to measure the EEG signal in the presence or absence of a frightening event. The second randomized, controlled experiment on two groups of 50 different healthy subjects (100 total subjects) exposed the subjects to comfortable and uncomfortable movements of a collaborative robot (cobot) while the subjects’ EEG signal was acquired. The result was that a spike in the subject’s EEG signal was observed in the presence of uncomfortable movement. The questionnaires were distributed to the subjects, and confirmed the results of the EEG signal measurement. In a controlled laboratory setting, all experiments were found to be statistically significant. In the first experiment, the peak EEG signal measured just after the activating event was greater than the resting EEG signal (p < 10−3). In the second experiment, the peak EEG signal measured just after the uncomfortable movement of the cobot was greater than the EEG signal measured under conditions of comfortable movement of the cobot (p < 10−3). In conclusion, within the isolated and constrained experimental environment, the results were satisfactory