仿人面部表情机器人头部机构方案设计

doi:10.3969/j.issn.1007-2861.2014.04.011

上海大学学报(自然科学版) ›› 2016, Vol. 22 ›› Issue (4): 432-439.doi: 10.3969/j.issn.1007-2861.2014.04.011

仿人面部表情机器人头部机构方案设计

卢孔笔, 柯显信, 尚宇峰

上海大学机电工程与自动化学院, 上海200072

收稿日期:2014-09-11 出版日期:2016-08-30 发布日期:2016-08-30
通讯作者: 柯显信(1973—), 男, 副教授, 博士后, 研究方向为仿人机器人和人机情感交互等. E-mail: xxke@staff.shu.edu.cn
基金资助:
国家自然科学基金资助项目(61273325); 国家重大科学仪器设备开发专项项目(2012YQ150087)

Mechanical scheme design of a humanoid facial expressions robot

LU Kongbi, KE Xianxin, SHANG Yufeng

School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China

Received:2014-09-11 Online:2016-08-30 Published:2016-08-30
Supported by:
柯显信(1973—), 男, 副教授, 博士后, 研究方向为仿人机器人和人机情感交互等. E-mail: xxke@staff.shu.edu.cn

摘要/Abstract

摘要：

为了赋予表情机器人更丰富的面部表情, 并最终实现与人之间更和谐的交互, 在对人类基本表情的形成与肌肉运动进行分析的基础上, 提出了一种仿人面部表情机器人头部的机械结构设计方案, 为后续研究提供了硬件平台支持. 并对该机器人头部机构, 包括眉毛、眼睑、眼球、能实现咀嚼动作的下颚以及颈部等的工作原理进行了详细说明, 对多种方案的选择作了对比. 最后, 确定了表情机器人头部的机构设计方案.

关键词: 表情 , 机构设计, 情感 , 人机交互 , 仿人面部表情机器人

Abstract:

To give richer facial expressions to humanoid countenance robot therefore achieve more harmonious interaction with people, a mechanical design of humanoid expressions is proposed by analyzing the generation of basic expressions and muscle movements, providing a hardware platform support for further study. The robot head consists of the mechanisms of eyebrows, eyelids, eyeballs, and neck, as well as the mechanism of jaw for mastication movement. Their working principles are described in detail, and several design choices are compared. The choice of mechanical design is finally made, and the required further research is specified.

Key words: mechanical design, affection , expression , human-robot interaction , humanoid countenance robot

卢孔笔, 柯显信, 尚宇峰. 仿人面部表情机器人头部机构方案设计[J]. 上海大学学报(自然科学版), 2016, 22(4): 432-439.

LU Kongbi, KE Xianxin, SHANG Yufeng. Mechanical scheme design of a humanoid facial expressions robot[J]. Journal of Shanghai University（Natural Science Edition）, 2016, 22(4): 432-439.

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仿人面部表情机器人头部机构方案设计

Mechanical scheme design of a humanoid facial expressions robot

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