JRM Vol.19 No.3 pp. 324-330
doi: 10.20965/jrm.2007.p0324


Development of a Face Robot Imitating Human Muscle Structures

Minoru Hashimoto*, Chisaki Yokogawa**,
Tsugutake Sadoyama***, and Toru Sugahara***

*Interdisciplinary Graduate School of Science and Technology, ,Shinshu University, Nagano, Japan

**Kissei Comtec Co., Ltd., Nagano, Japan

***Department of Kansei Engineering, Shinshu University, Nagano, Japan

October 19, 2006
May 9, 2007
June 20, 2007
face robot, facial expression, EMG, actuator, android
When robots communicate with users, facial expressions play an important role. This paper explains the design and prototyping of robot facial expressions imitating human muscle structures i.e., skin, muscle, and frame. Facial expressions are generated by robot muscle constructions. The robot muscle consists of a motor, wires, and urethane sponge. Human muscle activities are measured and the robot muscles are controlled using values of muscle activity to make natural facial expressions natural.
Cite this article as:
M. Hashimoto, C. Yokogawa, T. Sadoyama, and T. Sugahara, “Development of a Face Robot Imitating Human Muscle Structures,” J. Robot. Mechatron., Vol.19 No.3, pp. 324-330, 2007.
Data files:
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  2. [2] H. Kobayashi, H. Akasawa, and F. Hara, “Study on New Face Robot Platform for Robot-Human Communication,” Proceedings of the 1999 IEEE International Workshop on Robot and Human Interaction, Pisa, Italy, pp. 242-247, September 1999.
  3. [3] I. Nakajima, “Making Human’s Face,” Proceedings of Great “Face” Exhibition, Japanese Academy of Facial Studies, pp. 46-49, 1999 (in Japanese).

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Last updated on May. 10, 2024