Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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A Face Robot Actuated With Artificial Muscle Based on Dielectric Elastomer

  • Kwak Jong Won (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Chi Ho June (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Jung Kwang Mok (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Koo Ja Choon (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Jeon Jae Wook (School of Information and Communication Engineering) ;
  • Lee Youngkwan (School of Applied Chemistry, Sungkyunkwan University) ;
  • Nam Jae-do (School of Applied Chemistry, Sungkyunkwan University) ;
  • Ryew Youngsun (Robolands Co., Hnyang Business Incubator) ;
  • Choi Hyouk Ryeol (School of Mechanical Engineering, Sungkyunkwan University)
  • Published : 2005.02.01
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Abstract

Face robots capable of expressing their emotional status, can be adopted as an efficient tool for friendly communication between the human and the machine. In this paper, we present a face robot actuated with artificial muscle based on dielectric elastomer. By exploiting the properties of dielectric elastomer, it is possible to actuate the covering skin, eyes as well as provide human-like expressivity without employing complicated mechanisms. The robot is driven by seven actuator modules such eye, eyebrow, eyelid, brow, cheek, jaw and neck module corresponding to movements of facial muscles. Although they are only part of the whole set of facial motions, our approach is sufficient to generate six fundamental facial expressions such as surprise, fear, angry, disgust, sadness, and happiness. In the robot, each module communicates with the others via CAN communication protocol and according to the desired emotional expressions, the facial motions are generated by combining the motions of each actuator module. A prototype of the robot has been developed and several experiments have been conducted to validate its feasibility.

Keywords

References

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