Development of face robot to express various face shapes by moving the parts and outline

During human communication, humans distinguish individuals by facial features such as silhouette, position and the shape of each part, and guess the mental state based on facial expressions. Many researchers have developed robots that can express their emotions using facial expressions. However, a robot that can change individual facial aspects has not been researched yet. Therefore, we developed a face robot that expresses various faces by changing shape of the mask and projecting the face image onto the face mask. We confirmed that the face robot can express many types of human face by solving of some problems of unsuitable wrinkle, low torque and low accuracy.