Design of a robot head with arm-type antennae for emotional expression

This paper describes the design of a robot head which uses arm-type antennae, eye-expression, and additional exaggerating parts for dynamic emotional expression. The robot head is developed for various and efficient emotional expressions in the Human-Robot interaction field. The concept design of the robot is an insect character. It is on terms of familiarity with human from many animations. This robot head consists of 3 parts to express emotions. First, arm-type antennae which are implemented by 3-DOFs flexible links each side show dynamic emotional motions. This mechanism should be light, simple, and easy to generate movements. And this system doesn´t need an extra part such as body to attach arms. Second, eye-expression based on emoticon helps emotional expression. Eyes are most important part to feel emotions. Emoticon shows expressiveness of eyes well. Last, additional parts for exaggerative emotions should assist emotional expression also. It is expected to express emotions efficiently by combining the functions of those 3 parts.