对混合面部机器人的情绪反应及其向消费级社交机器人的转化
Emotive Response to a Hybrid-Face Robot and Translation to Consumer Social Robots
AI总结：
本研究开发了集成3D打印面板与显示屏的混合面部社交机器人，验证其表情识别率超80%且能引发类真人面部的脑电反应，并将该技术转化至商用平台Miko，实现90%以上的表情识别率，有效提升人机交互效果。
摘要：
我们介绍了一款混合面部社交机器人的概念构想、设计、制造、控制及带物联网连接的商业化转化，并验证了人类对其情感交互的情绪反应。该混合面部机器人集成了3D打印面板与数字显示屏，在为自然交互营造三维深度观感的同时，简化了复杂面部动作的传递。我们将机器人的潜在情绪空间映射到特定的面部特征参数，并表征了这款类人混合面部机器人典型面部表情的可识别性，还引入瞳孔扩张作为传递情绪状态的额外自由度。人类交互实验通过将受试者的神经生理脑电图（EEG）反应映射到感知到的情绪信息，并结合访谈，验证了混合机器人面部能有效向人类观察者传递情绪。结果显示，该混合面部机器人的主要表情可被区分，识别率超过80%；且通过EEG中面部特异性的N170事件相关电位测量，其引发的人类情绪反应与真实人类面部引发的反应相似。该混合面部机器人的概念已被修改、实现并发布于商业物联网机器人平台Miko（My Companion），这是一款具备面部与对话功能的情感机器人，目前由Emotix Inc.用于儿童的人机交互场景。我们证实，人类对Miko情绪的EEG反应与真实人类面部识别的神经生理反应相当。最后，访谈显示我们的商用机器人表情识别率超过90%。我们得出结论：简化的混合面部抽象形式能有效传递情绪，提升人机交互体验。
英文摘要：
We introduce the conceptual formulation, design, fabrication, control and commercial translation with IoT connection of a hybrid-face social robot and validation of human emotional response to its affective interactions. The hybrid-face robot integrates a 3D printed faceplate and a digital display to simplify conveyance of complex facial movements while providing the impression of three-dimensional depth for natural interaction. We map the space of potential emotions of the robot to specific facial feature parameters and characterise the recognisability of the humanoid hybrid-face robot's archetypal facial expressions. We introduce pupil dilation as an additional degree of freedom for conveyance of emotive states. Human interaction experiments demonstrate the ability to effectively convey emotion from the hybrid-robot face to human observers by mapping their neurophysiological electroencephalography (EEG) response to perceived emotional information and through interviews. Results show main hybrid-face robotic expressions can be discriminated with recognition rates above 80% and invoke human emotive response similar to that of actual human faces as measured by the face-specific N170 event-related potentials in EEG. The hybrid-face robot concept has been modified, implemented, and released in the commercial IoT robotic platform Miko (My Companion), an affective robot with facial and conversational features currently in use for human-robot interaction in children by Emotix Inc. We demonstrate that human EEG responses to Miko emotions are comparative to neurophysiological responses for actual human facial recognition. Finally, interviews show above 90% expression recognition rates in our commercial robot. We conclude that simplified hybrid-face abstraction conveys emotions effectively and enhances human-robot interaction.
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