A basic study on dynamic control of facial expressions for Face Robot

In order to develop an active human interface that realizes “hear-to-heart” virtual communication between an intelligent machine and human being, we have already reported the “Face Robot” which has a human-like face and can display facial expressions similar to that of a human being by using a flexible microactuator (FMA). For realizing real-time communication between intelligent machine and human being, the Face Robot must express its facial expressions at the almost same speed and in the same manner as a human being. However it is found that FMA can not cope with this kind of performance in expressing dynamic facial features. This paper deals with the development of new mini-actuator “ACDIS” for real-time display of Face Robot´s facial expressions and also their control method. The developed double action piston type actuator is able to measure the displacement of the position in ACDIS by equipping a LED and a photo-transistor inside it. The opening time of the electro-magnetic valve is regulated for the displacement control of ACDIS by a PD control algorithm. The ACDIS is found to have sufficient performance in the speed of piston-movement and we undertake the experiment of real-time facial expression on the Face Robot and confirm that the display of human-like facial expression is successfully realized