Development andControl ofaFaceRobotImitating HumanMuscular Structures

When robotscommunicate withhumans, expressions playan important role.Thispaperexplains the design andprototyping ofa facial expression robotwhich imitates human'smuscular structures. Thefeature ofthisrobot istocreateexpressions basedon a humanbeing's muscular structure. Itiscomposed ofthree structures (the skin, themuscle, andtheframe). Thefacial expression isgenerated withthe contraction oftherobotic muscle.Therobotic muscleconsists of amotor,wiresandaurethane sponge.Therobotic muscles are controlled basedonhuman'smuscleactivities tomakenatural facial expressions.