JRM Vol.18 No.4 pp. 433-441
doi: 10.20965/jrm.2006.p0433


Analysis and Synthesis of Facial Color for Facial Image Synthesis in a Virtual Arm Wrestling System

Takashi Yamada* and Tomio Watanabe**

*Faculty of Education, Kagawa University, 1-1 Saiwai-cho, Takamatsu, Kagawa 760-8522, Japan

**Department of Systems Engineering, Faculty of Computer Science and System Engineering, Okayama Prefectural University, 111 Kuboki, Soja, Okayama 719-1197, Japan

January 5, 2006
January 5, 2006
August 20, 2006
force display, facial color, virtual arm wrestling, friendly human interface, virtual human

An arm wrestling system using a 4-DOF force display with a virtual human opponent is developed, incorporating affect display of facial color and expression, targeting training and rehabilitation support applications. First, a 4-air cylinder 4-DOF force display system is developed for arm wrestling with human operators. Using this system, changes in facial skin temperature as an index of emotion and facial color associated with circulation dynamics in response to the force display, are simultaneously measured and analyzed. Second, based on this analysis, a synthetic method for affect display of the virtual face using facial color and expression for use with the force is proposed, demonstrating its effectiveness through sensory evaluation. Finally, the results are combined to develop an arm wrestling prototype with a virtual human opponent. This paper is the full translation from the transactions of JSME Series C, Vol.70, No.693, 2004.

Cite this article as:
Takashi Yamada and Tomio Watanabe, “Analysis and Synthesis of Facial Color for Facial Image Synthesis in a Virtual Arm Wrestling System,” J. Robot. Mechatron., Vol.18, No.4, pp. 433-441, 2006.
Data files:
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Last updated on Mar. 05, 2021