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Vol. 6, Special Issue, August 2009, pp.18-26





A Robot with Complex Facial Expressions


J. Takeno, K. Mori and Y. Naito

Meiji University Graduate School,

Kawasaki-shi, Japan



Received: 10 July 2009   /Accepted: 31 July 2009   /Published: 10 August 2009


Abstract: The authors believe that the consciousness of humans basically originates from languages and their association-like flow of consciousness, and that feelings are generated accompanying respective languages. We incorporated artificial consciousness into a robot; achieved an association flow of language like flow of consciousness; and developed a robot called Kansei that expresses its feelings according to the associations occurring in the robot. To be able to fully communicate with humans, robots must be able to display complex expressions, such as a sense of being thrilled. We therefore added to the Kansei robot a device to express complex feelings through its facial expressions.


The Kansei robot is actually an artificial skull made of aluminum, with servomotors built into it. The face is made of relatively soft polyethylene, which is formed to appear like a human face. Facial expressions are generated using 19 servomotors built into the skull, which pull metal wires attached to the facial “skin” to create expressions. The robot at present is capable of making six basic expressions as well as complex expressions, such as happiness and fear combined.


Keywords: Robot, Kansei robot, humanoid robots, facial expressions


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