Gaze Guidance Using a Facial Expression Robot

This paper describes the gaze guidance with emotional expression of a head robot, called Kamin-FA1. We propose to use not only the gaze control of the robot, but also the facial expression to guide a human being's gaze to the target. We provide the information of the target of gaze intuitively to the human based on joint attention with Kamin-FA1. The robot has a facial expression function using a curved surface display. We examined the effect of emotional expression on the gaze guidance in terms of the accuracy and reaction speed. We conducted experiments of human gaze measurement during the gaze guidance with emotional expression to evaluate the role of emotional expression. The results of the gaze guidance experiments showed that gaze guidance with emotional expression caused a more accurate and quicker response than that without emotional expression. In particular, the expression of surprise has better performance in the gaze guidance compared with the normal expression. Furthermore, emotional expressions of angry and surprise impressed the subjects in dangerous situations, while normal and happy situations gave the impression of a safe situation at the target of gaze.Advanced robotics. 23(14):1831-1848 (2009)journal articl

EMOTIONAL SYNCHRONIZATION-BASED HUMAN-ROBOT COMMUNICATION AND ITS EFFECTS

This paper presents a natural and comfortable communication system between human and robot based on synchronization to human emotional state using human facial expression recognition. The system consists of three parts: human emotion recognition, robotic emotion generation, and robotic emotion expression. The robot recognizes human emotion through human facial expressions, and robotic emotion is generated and synchronized with human emotion dynamically using a vector field of dynamics. The robot makes dynamically varying facial expressions to express its own emotions to the human. A communication experiment was conducted to examine the effectiveness of the proposed system. The authors found that subjects became much more comfortable after communicating with the robot with synchronized emotions. Subjects felt somewhat uncomfortable after communicating with the robot with non-synchronized emotions. During emotional synchronization, subjects communicated much more with the robot, and the communication time was double that during non-synchronization. Furthermore, in the case of emotional synchronization, subjects had good impressions of the robot, much better than the impressions in the case of non-synchronization. It was confirmed in this study that emotional synchronization in human-robot communication can be effective in making humans comfortable and makes the robot much more favorable and acceptable to humans.ArticleINTERNATIONAL JOURNAL OF HUMANOID ROBOTICS. 10(1):1350014 (2013)journal articl

Acoustic-based Smart Tactile Sensing in Social Robots

Mención Internacional en el título de doctorEl sentido del tacto es un componente crucial de la interacción social humana y es único entre los cinco sentidos. Como único sentido proximal, el tacto requiere un contacto físico cercano o directo para registrar la información. Este hecho convierte al tacto en una modalidad de interacción llena de posibilidades en cuanto a comunicación social. A través del tacto, podemos conocer la intención de la otra persona y comunicar emociones. De esta idea surge el concepto de social touch o tacto social como el acto de tocar a otra persona en un contexto social. Puede servir para diversos fines, como saludar, mostrar afecto, persuadir y regular el bienestar emocional y físico. Recientemente, el número de personas que interactúan con sistemas y agentes artificiales ha aumentado, principalmente debido al auge de los dispositivos tecnológicos, como los smartphones o los altavoces inteligentes. A pesar del auge de estos dispositivos, sus capacidades de interacción son limitadas. Para paliar este problema, los recientes avances en robótica social han mejorado las posibilidades de interacción para que los agentes funcionen de forma más fluida y sean más útiles. En este sentido, los robots sociales están diseñados para facilitar interacciones naturales entre humanos y agentes artificiales. El sentido del tacto en este contexto se revela como un vehículo natural que puede mejorar la Human-Robot Interaction (HRI) debido a su relevancia comunicativa en entornos sociales. Además de esto, para un robot social, la relación entre el tacto social y su aspecto es directa, al disponer de un cuerpo físico para aplicar o recibir toques. Desde un punto de vista técnico, los sistemas de detección táctil han sido objeto recientemente de nuevas investigaciones, sobre todo dedicado a comprender este sentido para crear sistemas inteligentes que puedan mejorar la vida de las personas. En este punto, los robots sociales se han convertido en dispositivos muy populares que incluyen tecnologías para la detección táctil. Esto está motivado por el hecho de que un robot puede esperada o inesperadamente tener contacto físico con una persona, lo que puede mejorar o interferir en la ejecución de sus comportamientos. Por tanto, el sentido del tacto se antoja necesario para el desarrollo de aplicaciones robóticas. Algunos métodos incluyen el reconocimiento de gestos táctiles, aunque a menudo exigen importantes despliegues de hardware que requieren de múltiples sensores. Además, la fiabilidad de estas tecnologías de detección es limitada, ya que la mayoría de ellas siguen teniendo problemas tales como falsos positivos o tasas de reconocimiento bajas. La detección acústica, en este sentido, puede proporcionar un conjunto de características capaces de paliar las deficiencias anteriores. A pesar de que se trata de una tecnología utilizada en diversos campos de investigación, aún no se ha integrado en la interacción táctil entre humanos y robots. Por ello, en este trabajo proponemos el sistema Acoustic Touch Recognition (ATR), un sistema inteligente de detección táctil (smart tactile sensing system) basado en la detección acústica y diseñado para mejorar la interacción social humano-robot. Nuestro sistema está desarrollado para clasificar gestos táctiles y localizar su origen. Además de esto, se ha integrado en plataformas robóticas sociales y se ha probado en aplicaciones reales con éxito. Nuestra propuesta se ha enfocado desde dos puntos de vista: uno técnico y otro relacionado con el tacto social. Por un lado, la propuesta tiene una motivación técnica centrada en conseguir un sistema táctil rentable, modular y portátil. Para ello, en este trabajo se ha explorado el campo de las tecnologías de detección táctil, los sistemas inteligentes de detección táctil y su aplicación en HRI. Por otro lado, parte de la investigación se centra en el impacto afectivo del tacto social durante la interacción humano-robot, lo que ha dado lugar a dos estudios que exploran esta idea.The sense of touch is a crucial component of human social interaction and is unique among the five senses. As the only proximal sense, touch requires close or direct physical contact to register information. This fact makes touch an interaction modality full of possibilities regarding social communication. Through touch, we are able to ascertain the other person’s intention and communicate emotions. From this idea emerges the concept of social touch as the act of touching another person in a social context. It can serve various purposes, such as greeting, showing affection, persuasion, and regulating emotional and physical well-being. Recently, the number of people interacting with artificial systems and agents has increased, mainly due to the rise of technological devices, such as smartphones or smart speakers. Still, these devices are limited in their interaction capabilities. To deal with this issue, recent developments in social robotics have improved the interaction possibilities to make agents more seamless and useful. In this sense, social robots are designed to facilitate natural interactions between humans and artificial agents. In this context, the sense of touch is revealed as a natural interaction vehicle that can improve HRI due to its communicative relevance. Moreover, for a social robot, the relationship between social touch and its embodiment is direct, having a physical body to apply or receive touches. From a technical standpoint, tactile sensing systems have recently been the subject of further research, mostly devoted to comprehending this sense to create intelligent systems that can improve people’s lives. Currently, social robots are popular devices that include technologies for touch sensing. This is motivated by the fact that robots may encounter expected or unexpected physical contact with humans, which can either enhance or interfere with the execution of their behaviours. There is, therefore, a need to detect human touch in robot applications. Some methods even include touch-gesture recognition, although they often require significant hardware deployments primarily that require multiple sensors. Additionally, the dependability of those sensing technologies is constrained because the majority of them still struggle with issues like false positives or poor recognition rates. Acoustic sensing, in this sense, can provide a set of features that can alleviate the aforementioned shortcomings. Even though it is a technology that has been utilised in various research fields, it has yet to be integrated into human-robot touch interaction. Therefore, in thiswork,we propose theATRsystem, a smart tactile sensing system based on acoustic sensing designed to improve human-robot social interaction. Our system is developed to classify touch gestures and locate their source. It is also integrated into real social robotic platforms and tested in real-world applications. Our proposal is approached from two standpoints, one technical and the other related to social touch. Firstly, the technical motivation of thiswork centred on achieving a cost-efficient, modular and portable tactile system. For that, we explore the fields of touch sensing technologies, smart tactile sensing systems and their application in HRI. On the other hand, part of the research is centred around the affective impact of touch during human-robot interaction, resulting in two studies exploring this idea.Programa de Doctorado en Ingeniería Eléctrica, Electrónica y Automática por la Universidad Carlos III de MadridPresidente: Pedro Manuel Urbano de Almeida Lima.- Secretaria: María Dolores Blanco Rojas.- Vocal: Antonio Fernández Caballer

Automated Technique for Real-Time Production of Lifelike Animations of American Sign Language

Generating sentences from a library of signs implemented through a sparse set of key frames derived from the segmental structure of a phonetic model of ASL has the advantage of flexibility and efficiency, but lacks the lifelike detail of motion capture. These difficulties are compounded when faced with real-time generation and display. This paper describes a technique for automatically adding realism without the expense of manually animating the requisite detail. The new technique layers transparently over and modifies the primary motions dictated by the segmental model, and does so with very little computational cost, enabling real-time production and display. The paper also discusses avatar optimizations that can lower the rendering overhead in real-time displays

The computer synthesis of expressive three-dimensional facial character animation.

This present research is concerned with the design, development and implementation of three-dimensional computer-generated facial images capable of expression gesture and speech. A review of previous work in chapter one shows that to date the model of computer-generated faces has been one in which construction and animation were not separated and which therefore possessed only a limited expressive range. It is argued in chapter two that the physical description of the face cannot be seen as originating from a single generic mould. Chapter three therefore describes data acquisition techniques employed in the computer generation of free-form surfaces which are applicable to three-dimensional faces. Expressions are the result of the distortion of the surface of the skin by the complex interactions of bone, muscle and skin. Chapter four demonstrates with static images and short animation sequences in video that a muscle model process algorithm can simulate the primary characteristics of the facial muscles. Three-dimensional speech synchronization was the most complex problem to achieve effectively. Chapter five describes two successful approaches: the direct mapping of mouth shapes in two dimensions to the model in three dimensions, and geometric distortions of the mouth created by the contraction of specified muscle combinations. Chapter six describes the implementation of software for this research and argues the case for a parametric approach. Chapter seven is concerned with the control of facial articulations and discusses a more biological approach to these. Finally chapter eight draws conclusions from the present research and suggests further extensions

ROBOMIRROR: A SIMULATED MIRROR DISPLAY WITH A ROBOTIC CAMERA

Simulated mirror displays have a promising prospect in applications, due to its capability for virtual visualization. In most existing mirror displays, cameras are placed on top of the displays and unable to capture the person in front of the display at the highest possible resolution. The lack of a direct frontal capture of the subject\u27s face and the geometric error introduced by image warping techniques make realistic mirror image rendering a challenging problem. The objective of this thesis is to explore the use of a robotic camera in tracking the face of the subject in front of the display to obtain a high-quality image capture. Our system uses a Bislide system to control a camera for face capture, while using a separate color-depth camera for accurate face tracking. We construct an optical device in which a one-way mirror is used so that the robotic camera behind can capture the subject while the rendered images can be displayed by reflecting off the mirror from an overhead projector. A key challenge of the proposed system is the reduction of light due to the one-way mirror. The optimal 2D Wiener filter is selected to enhance the low contrast images captured by the camera