Anthropomorphic Robotic Eyes: Structural Design and Non-Verbal Communication Effectiveness

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 i...

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Published inSensors (Basel, Switzerland) Vol. 22; no. 8; p. 3060
Main Authors Penčić, Marko, Čavić, Maja, Oros, Dragana, Vrgović, Petar, Babković, Kalman, Orošnjak, Marko, Čavić, Dijana
Format Journal Article
LanguageEnglish
Published Switzerland MDPI AG 15.04.2022
MDPI
Subjects
anthropomorphic robotic eyes
Brain research
Coronaviruses
COVID-19
Emotions
Facial Expression
Facial recognition technology
Health care
healthcare
human-robot interaction
Humans
Internet of Things
Kinematics
Masks
Mechanical systems
Medical personnel
Movement
non-verbal communication
Pandemics
Retina
Robotic Surgical Procedures
Robotics
Robots
social robots
Structural design
Subsystems
Verbal communication
effectiveness
human-robot interaction
facial expression
social robots
emotion recognition
structural design
anthropomorphic robotic eyes
healthcare
non-verbal communication
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Abstract 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.
AbstractList 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.
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.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.
Author Čavić, Dijana
Orošnjak, Marko
Čavić, Maja
Oros, Dragana
Penčić, Marko
Babković, Kalman
Vrgović, Petar
AuthorAffiliation Faculty of Technical Sciences, University of Novi Sad, Trg Dositeja Obradovića 6, 21000 Novi Sad, Serbia; scomaja@uns.ac.rs (M.Č.); spawn@uns.ac.rs (D.O.); vrgovic@uns.ac.rs (P.V.); bkalman@uns.ac.rs (K.B.); orosnjak@uns.ac.rs (M.O.); dijana.cavic@uns.ac.rs (D.Č.)
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Keywords effectiveness
human-robot interaction
facial expression
social robots
emotion recognition
structural design
anthropomorphic robotic eyes
healthcare
non-verbal communication
Language English
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Snippet 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...
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...
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SubjectTerms anthropomorphic robotic eyes
Brain research
Coronaviruses
COVID-19
Emotions
Facial Expression
Facial recognition technology
Health care
healthcare
human-robot interaction
Humans
Internet of Things
Kinematics
Masks
Mechanical systems
Medical personnel
Movement
non-verbal communication
Pandemics
Retina
Robotic Surgical Procedures
Robotics
Robots
social robots
Structural design
Subsystems
Verbal communication
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Title Anthropomorphic Robotic Eyes: Structural Design and Non-Verbal Communication Effectiveness
URI https://www.ncbi.nlm.nih.gov/pubmed/35459046
https://www.proquest.com/docview/2653011576
https://www.proquest.com/docview/2654279020/abstract/
https://pubmed.ncbi.nlm.nih.gov/PMC9024502
https://doaj.org/article/8024bdea579f485dbce5de0be80bbe19
Volume 22
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