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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 its st...

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Detalles Bibliográficos
Autores principales: Penčić, Marko, Čavić, Maja, Oros, Dragana, Vrgović, Petar, Babković, Kalman, Orošnjak, Marko, Čavić, Dijana
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9024502/
https://www.ncbi.nlm.nih.gov/pubmed/35459046
http://dx.doi.org/10.3390/s22083060
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author Penčić, Marko
Čavić, Maja
Oros, Dragana
Vrgović, Petar
Babković, Kalman
Orošnjak, Marko
Čavić, Dijana
author_facet Penčić, Marko
Čavić, Maja
Oros, Dragana
Vrgović, Petar
Babković, Kalman
Orošnjak, Marko
Čavić, Dijana
author_sort Penčić, Marko
collection PubMed
description 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.
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spelling pubmed-90245022022-04-23 Anthropomorphic Robotic Eyes: Structural Design and Non-Verbal Communication Effectiveness Penčić, Marko Čavić, Maja Oros, Dragana Vrgović, Petar Babković, Kalman Orošnjak, Marko Čavić, Dijana Sensors (Basel) Article 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. MDPI 2022-04-15 /pmc/articles/PMC9024502/ /pubmed/35459046 http://dx.doi.org/10.3390/s22083060 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Penčić, Marko
Čavić, Maja
Oros, Dragana
Vrgović, Petar
Babković, Kalman
Orošnjak, Marko
Čavić, Dijana
Anthropomorphic Robotic Eyes: Structural Design and Non-Verbal Communication Effectiveness
title Anthropomorphic Robotic Eyes: Structural Design and Non-Verbal Communication Effectiveness
title_full Anthropomorphic Robotic Eyes: Structural Design and Non-Verbal Communication Effectiveness
title_fullStr Anthropomorphic Robotic Eyes: Structural Design and Non-Verbal Communication Effectiveness
title_full_unstemmed Anthropomorphic Robotic Eyes: Structural Design and Non-Verbal Communication Effectiveness
title_short Anthropomorphic Robotic Eyes: Structural Design and Non-Verbal Communication Effectiveness
title_sort anthropomorphic robotic eyes: structural design and non-verbal communication effectiveness
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9024502/
https://www.ncbi.nlm.nih.gov/pubmed/35459046
http://dx.doi.org/10.3390/s22083060
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