Dynamic analysis of facial color by using the force feedback system for virtual arm wrestling

In this paper, we develop a 4-DOF force display system for the analysis by synthesis of facial color for the interaction with anthropomorphic agent. By using the system, we analyze the changes in facial skin temperature and facial color associated with circulation dynamics in response to forced actions. On the basis of the analysis, we propose a synthetic method for the affect display of virtual face with facial color and expression in force display, and the effectiveness of the method is confirmed. Finally, we develop a prototype of virtual arm wrestling system with anthropomorphic agent using synthesized dynamic three-dimensional facial color and expression.