Humanoid face utilizing rotary actuator and piezoelectric sensors

Yonas Tadesse, Shashank Priya

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

Mimicking facial structure for a robotic head is a challenging issue and requires information on design and control of muscle actuation, architecture of the linkages between actuation points within skin, and deformation matrix with respect to global coordinates for a specific expression. This manuscript presents: (1) a functional relationship between deformation vector of facial control points and actuator parameter, skin elasticity and angular position of actuator. The actuation method is applicable to any rotary actuator technology utilized for facial expressions and takes into account the skin stiffness; (2) a prototype robotic head with embedded sensor to enhance interaction ability of humanoids; and (3) characterization of various facial expressions on a prototype robotic face.

Original languageEnglish (US)
Title of host publication2008 Proceedings of ASME International Mechanical Engineering Congress and Exposition, IMECE 2008
Pages573-581
Number of pages9
Volume12
DOIs
StatePublished - Sep 14 2009
Event2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008 - Boston, MA, United States
Duration: Oct 31 2008Nov 6 2008

Other

Other2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008
CountryUnited States
CityBoston, MA
Period10/31/0811/6/08

Fingerprint

Skin
Robotics
Actuators
Sensors
Muscle
Elasticity
Stiffness

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

Cite this

Tadesse, Y., & Priya, S. (2009). Humanoid face utilizing rotary actuator and piezoelectric sensors. In 2008 Proceedings of ASME International Mechanical Engineering Congress and Exposition, IMECE 2008 (Vol. 12, pp. 573-581) https://doi.org/10.1115/IMECE2008-66860
Tadesse, Yonas ; Priya, Shashank. / Humanoid face utilizing rotary actuator and piezoelectric sensors. 2008 Proceedings of ASME International Mechanical Engineering Congress and Exposition, IMECE 2008. Vol. 12 2009. pp. 573-581
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Tadesse, Y & Priya, S 2009, Humanoid face utilizing rotary actuator and piezoelectric sensors. in 2008 Proceedings of ASME International Mechanical Engineering Congress and Exposition, IMECE 2008. vol. 12, pp. 573-581, 2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Boston, MA, United States, 10/31/08. https://doi.org/10.1115/IMECE2008-66860

Humanoid face utilizing rotary actuator and piezoelectric sensors. / Tadesse, Yonas; Priya, Shashank.

2008 Proceedings of ASME International Mechanical Engineering Congress and Exposition, IMECE 2008. Vol. 12 2009. p. 573-581.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Tadesse Y, Priya S. Humanoid face utilizing rotary actuator and piezoelectric sensors. In 2008 Proceedings of ASME International Mechanical Engineering Congress and Exposition, IMECE 2008. Vol. 12. 2009. p. 573-581 https://doi.org/10.1115/IMECE2008-66860