Review of Animatronic Faces Focusing on Human-Robot Interaction

With the growing use of service robots in several fields, from customer service to healthcare, there is a rising interest in the development and evolution of anthropomorphic robots. These robots can provide more natural and empathetic interactions, enhancing user experience and expanding the possibilities of collaboration between humans and machines. This paper explores the evolution of robot faces for social robotics, capable of replicating facial expressions, focusing on their design, functionality, and role in Human-Robot Interaction. It investigates the mechanical structures and the level of anthropomorphism in the state of the art for social robots, especially regarding animatronic faces. The analysis extends to static, digital, hybrid and animatronic facial designs, highlighting their strengths and challenges. Emphasis is placed on the role of eyes in non-verbal communication, discussing their influence on human perception and interaction. Finally, the paper underscores the importance of balancing technical innovation with social acceptance in robotic design, providing a relevant study on how the appearance and behavior of robot faces affect user comfort and acceptance.