Facial interaction between animated 3D face robot and human beings

We study the realization of a realistic human-like response of an animated 3D face robot in communicative interaction with human beings. The face robot can produce human-like facial expressions and recognize human facial expressions using facial image data obtained by a CCD camera mounted inside the left eyeball. We developed the real time machine recognition of facial expressions by using a layered neural network and achieved a high correct recognition ratio of 85% with respect to 6 typical facial expressions of 15 subjects in 55 ms. We also developed a new small-size actuator for display of facial expressions on the face robot, giving the same speed in dynamic facial expressions as in human even in the case of a high-speed expression of "surprise". For facial interactive communication between the face robot and human beings, we integrated these two technologies to produce the facial expression in respond to the recognition result of the human facial expression in real time. This implies a high technological potential for the animated face robot to undertake interactive communication with human when an artificial emotion being implemented.