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Year 2023, Volume: 10 Issue: 2, 420 - 432, 31.05.2023
https://doi.org/10.31202/ecjse.1249294

Abstract

References

  • [1] J. A. Rojas-Quintero and M. C. Rodriguez-Linan “A literature review of sensor heads for humanoid robots,” Robotics and Autonomous Systems, vol. 143, pp. 103834, 2021.
  • [2] S. Saeedvand, M. Jafari, H. S. Aghdasi and J. Baltes “A comprehensive survey on humanoid robot development,” Knowl. Eng. Rev., 34 e20, 2019.
  • [3] D. Hanson “Exploring the aesthetic range for humanoid robots,” ICCS/CogSci-2006 Long Symposium: Toward Social Mechanisms of Android Science, 2006, pp. 39-42.
  • [4] C. DiSalvo, F. Gemperle, J. Forlizzi and S. Kiesler “All robots are not created equal: The design and perception of humanoid robot heads,” Conference on Designing Interactive Systems: Processes, Practices, Methods, and Techniques, ACM, New York, NY, 2002, pp. 321-326.
  • [5] C. Breazeal “Emotion and sociable humanoid robots,” Int. J. Hum. Comput. Stud., vol. 59, no. 1, pp. 119-155, 2003.
  • [6] T. Minato, M. Shimada, S. Itakura, K. Lee and H. Ishiguro “Evaluating the human likeness of an android by comparing gaze behaviors elicited by the android and a person,” Adv. Robot.: Int. J. Robot. Soc. Japan, vol. 20, no. 10, pp. 1147-1163, 2006.
  • [7] J. Englsberger, A. Werner, C. Ott, B. Henze, M.A. Roa, G. Garofalo, R. Burger, A. Beyer, O. Eiberger, K. Schmid and A. Albu-Schaffer “Overview of the torque-controlled humanoid robot TORO,” 2014 IEEE-RAS International Conference on Humanoid Robots, IEEE, 2014.
  • [8] N. A. Radford, et al., “Valkyrie: NASA's First Bipedal Humanoid Robot,” J. Field Robotics, vol. 32, pp. 397-419, 2015.
  • [9] G. Nelson, A. Saunders and R. Playter, “The PETMAN and atlas robots at boston dynamics” A. Goswami, P. Vadakkepat (Eds.), Humanoid Robotics: A Reference. Springer Netherlands, Dordrecht, pp. 169-186, 2019.
  • [10] T. Asfour, J. Schill, H. Peters, C. Klas, J. Bücker, C. Sander, S. Schulz, A. Kargov, T. Werner and V. Bartenbach, “ARMAR-4: A 63 DOF torque controlled humanoid robot,” 13th IEEE-RAS International Conference on Humanoid Robots, 2013, pp. 390-396.
  • [11] R. Loureiro, A. Lopes, C. Carona, D. Almeida, F. Faria, L. Garrote, C. Premebida and U.J. Nunes “ISR-robothead: Robotic head with LCD-based emotional expressiveness,” 2017 IEEE 5th Portuguese Meeting on Bioengineering (ENBENG), 2017, pp. 1-4.
  • [12] P. Wills, P. Baxter, J. Kennedy, E. Senft and T. Belpaeme, “Socially contingent humanoid robot head behaviour results in increased charity donations,” Proceedings of the 11th ACM/IEEE International Conference on HumanRobot Interaction, 2016, pp. 533-534.
  • [13] N. Pateromichelakis, A. Mazel, M. A. Hache, T. Koumpogiannis, R. Gelin, B. Maisonnier and A. Berthoz, “Head-eyes system and gaze analysis of the humanoid robot Romeo,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, pp. 1374-1379.
  • [14] T. Hashimoto, H. Kobayashi, A. Polishuk and I. Verner, “Elementary science lesson delivered by robot,” The 8th ACM/IEEE International Conference on Human-Robot Interaction, 2013, pp. 133-134.
  • [15] G. Trovato, T. Kishi, N. Endo, M. Zecca, K. Hashimoto and A. Takanishi, “Crosscultural perspectives on emotion expressive humanoid robotic head: Recognition of facial expressions and symbols,” Int. J. Soc. Robot, vol. 5, no. 4, pp. 515-527, 2013.
  • [16] “Hanson Robotics. Being Sophia”, https://www.hansonrobotics.com/ (Visited: Feb. 2023).
  • [17] “IEEE Geminoid DK. IEEE”, https://robots.ieee.org/robots/geminoiddk/. (Visited: Feb. 2023).
  • [18] Z. Faraj, M. Selamet, C. Morales, P. Torres, M. Hossain, B. Chen and H. Lipson “Facially expressive humanoid robotic face,” HardwareX, vol. 9, E00117, 2021.
  • [19] “Engineered Arts Limited. Ameca”, https://www.engineeredarts.co.uk/robot/ameca/. (Visited: Feb. 2023).
  • [20] “Human skull 3D model”, https://grabcad.com/library/3-parts-anatomical-skull-model. (Visited: Feb. 2023)
  • [21] “Human spine 3D model”, https://grabcad.com/library/human-spine-1. (Visited: Feb. 2023)
  • [22] P. G. Bullough and O. Boachie-Adjei “Iltlas of Spinal Diseases”. Lippincott, Philadelphia, 1988.
  • [23] B. Anson and C. McVay, “Surgical Anatomy,” Saunders, Philadelphia, 1971.
  • [24] IV. H. Hollinshead, “Anatomy for Surgeons” Harper & Row, Philadelphia, 1952.
  • [25] A.A. White and M.M. Panjabi “Clinical Biomechanics of the Spine,” J.B. Lippincott Company, Philadelphia, Toronto, 2nd edition, 1990.
  • [26] L. Ombregt, “A System of Orthopedic Medicine,” 3rd Edition ELSEVIER, 2013.
  • [27] T. M. Van Eijden, “Biomechanics of the Mandible,” Critical Reviews in Oral Biology & Medicine, vol. 11, no. 1, pp. 123-136, 2000.
  • [28] Y. K. Ozkan, “Movements and Mechanics of Mandible Occlusion Concepts and Laws of Articulation” Özkan Y. (eds) Complete Denture Prosthodontics. Springer, Cham. 2018.
  • [29] K. W. Wright, “Anatomy and Physiology of Eye Movements” Wright K.W., Spiegel P.H., Thompson L. S. (eds) Handbook of Pediatric Strabismus and Amblyopia. Springer, New York, NY, 2006.
  • [30] H. W. Lim, D. E. Lee, J. W. Lee, M. H. Kang, M. Seong, H. Y. Cho, J. E. Oh and S. Y. Oh, “Clinical measurement of the angle of ocular movements in the nine cardinal positions of gaze,” Ophthalmology, vol. 121, no. 4, pp. 870-876, 2014.
  • [31] G. Schweigart, T. Mergner, I. Evdokimidis, S. Morand and W. Becker, “Gaze Stabilization by Optokinetic Reflex (OKR) and Vestibulo-ocular Reflex (VOR) During Active Head Rotation in Man,” Vision Research, vol. 37, no. 12, pp. 1643-1652, 1997.
  • [32] M. Giesel, A. Yakovleva, M. Bloj, A.R. Wade, A.M. Norcia and J.M. Harris “Relative contributions to vergence eye movements of two binocular cues for motion-in-depth,” Scientific Reports, vol. 9, 17412, 2019.
  • [33] I. Bekerman, P. Gottlieb and M. Vaiman, “Variations in eyeball diameters of the healthy adults,” J Ophthalmol, 503645, 2014.
  • [34] N. A. Dodgson “Variation and extrema of human interpupillary distance,” SPIE 5291, Stereoscopic Displays and Virtual Reality Systems XI, 2004.
  • [35] S. Pham, B. Wilhelmi and A. Mowlavi, “Eyebrow Peak Position Redefined,” Aesthetic Surgery Journal, vol. 30, no. 3, pp. 297-300, 2010.
  • [36] S. J. Ahn, W. Rauh and H. Warnecke, “Least-squares orthogonal distances fitting of circle, sphere, ellipse, hyperbola, and parabola,” Pattern Recognition, vol. 34, 12, pp. 2283-2303, 2001.
  • [37] J. M. C. Malbouisson, A. A. V. eCruz, A. Messias, L. V. O. Leite and G. D. Rios, “Upper and Lower Eyelid Saccades Describe a Harmonic Oscillator Function,” Invest. Ophthalmol. Vis. Sci, vol. 46, no. 3, pp. 857-862, 2005.
  • [38] K. Nikola, I. Vladimir, A. Ivan, B. Nikola, M. Dusica and S.D. Ljubica, “Morphometric Analysis of the Palpebral Fissure and Canthal Distance in Serbian Young Adults,” International Journal of Morphology, vol. 38, no. 5, pp. 1381-1385, 2020.
  • [39] B. Gick, C. Mayer, C. Chiu, E. Widing, F. Roewer-Després, S. Fels and I. Stavness, “Quantal biomechanical effects in speech postures of the lips,” Journal of Neurophysiology, vol. 124, no. 3, pp. 833-843, 2019.
  • [40] I. Maddieson, “Pattern of Sounds” Cambridge, UK: Cambridge University Press, 1984.
  • [41] M. Eskes M., M. A. J. Balm, M. J. A. Van Alphen, L. E. Smeele, I. Stavness and F. Van Der Heijden, “Simulation of facial expressions using person-specific sEMG signals controlling a biomechanical face model,” Int J CARS, vol. 13, pp. 47-59, 2018.
  • [42] K. S. Talha, K. Wan, Z. Razlan and S. Mohamad, “Speech Analysis Based On Image Information from Lip Movement,” 5th International Conference on Mechatronics (ICOM’ 13), Kuala Lumpur, Malaysia, 2013, 53, pp. 1-18.

Robotic Information System (RIS): Design of Humanoid Robot’s Head Based on Human Biomechanics

Year 2023, Volume: 10 Issue: 2, 420 - 432, 31.05.2023
https://doi.org/10.31202/ecjse.1249294

Abstract

Robotic Information System (RIS) is a new information system architecture that provides data, information processing and services for users in a wide geographical space based on intelligent robots. The front end of the RIS is a humanoid robot head that interacts with users by different means to provide different services. Developing a robot which is similar to a human shape, function and socially accepted by human beings was and is still a challenging subject. Arslan is a new humanoid robot head that has been designed to be close to real human skeletal structure, where its physical structure is designed to be identical to the real human skull, jaw and the nick vertebrae. In order to develop a high-quality and low-cost system, Arslan has a smart mechanism that is controlled by 16 servo motors in order to control its nick, jaw, eyes and facial expression, which have been located according to analysis of human biomechanics. Arslan’s nick mechanism allows one side axial rotation of 41° and flexion/extension of 45°, mandible rotation around the hinge axis of 6 degrees, its eyes can rotate around their axis of motion with Adduction 19°, Abduction 34°, Supraduction (elevation) 0° and Infraduction (depression) 20°. The distance between the upper and the lower eyelid of Arslan can range from 0 up to 17 mm to cover different expressions. Also, it is equipped with devices for motion, vision, audition, smelling, and speech. It also can recognize its head tilting and is capable of maintaining its eyes' direction constantly during head motion

References

  • [1] J. A. Rojas-Quintero and M. C. Rodriguez-Linan “A literature review of sensor heads for humanoid robots,” Robotics and Autonomous Systems, vol. 143, pp. 103834, 2021.
  • [2] S. Saeedvand, M. Jafari, H. S. Aghdasi and J. Baltes “A comprehensive survey on humanoid robot development,” Knowl. Eng. Rev., 34 e20, 2019.
  • [3] D. Hanson “Exploring the aesthetic range for humanoid robots,” ICCS/CogSci-2006 Long Symposium: Toward Social Mechanisms of Android Science, 2006, pp. 39-42.
  • [4] C. DiSalvo, F. Gemperle, J. Forlizzi and S. Kiesler “All robots are not created equal: The design and perception of humanoid robot heads,” Conference on Designing Interactive Systems: Processes, Practices, Methods, and Techniques, ACM, New York, NY, 2002, pp. 321-326.
  • [5] C. Breazeal “Emotion and sociable humanoid robots,” Int. J. Hum. Comput. Stud., vol. 59, no. 1, pp. 119-155, 2003.
  • [6] T. Minato, M. Shimada, S. Itakura, K. Lee and H. Ishiguro “Evaluating the human likeness of an android by comparing gaze behaviors elicited by the android and a person,” Adv. Robot.: Int. J. Robot. Soc. Japan, vol. 20, no. 10, pp. 1147-1163, 2006.
  • [7] J. Englsberger, A. Werner, C. Ott, B. Henze, M.A. Roa, G. Garofalo, R. Burger, A. Beyer, O. Eiberger, K. Schmid and A. Albu-Schaffer “Overview of the torque-controlled humanoid robot TORO,” 2014 IEEE-RAS International Conference on Humanoid Robots, IEEE, 2014.
  • [8] N. A. Radford, et al., “Valkyrie: NASA's First Bipedal Humanoid Robot,” J. Field Robotics, vol. 32, pp. 397-419, 2015.
  • [9] G. Nelson, A. Saunders and R. Playter, “The PETMAN and atlas robots at boston dynamics” A. Goswami, P. Vadakkepat (Eds.), Humanoid Robotics: A Reference. Springer Netherlands, Dordrecht, pp. 169-186, 2019.
  • [10] T. Asfour, J. Schill, H. Peters, C. Klas, J. Bücker, C. Sander, S. Schulz, A. Kargov, T. Werner and V. Bartenbach, “ARMAR-4: A 63 DOF torque controlled humanoid robot,” 13th IEEE-RAS International Conference on Humanoid Robots, 2013, pp. 390-396.
  • [11] R. Loureiro, A. Lopes, C. Carona, D. Almeida, F. Faria, L. Garrote, C. Premebida and U.J. Nunes “ISR-robothead: Robotic head with LCD-based emotional expressiveness,” 2017 IEEE 5th Portuguese Meeting on Bioengineering (ENBENG), 2017, pp. 1-4.
  • [12] P. Wills, P. Baxter, J. Kennedy, E. Senft and T. Belpaeme, “Socially contingent humanoid robot head behaviour results in increased charity donations,” Proceedings of the 11th ACM/IEEE International Conference on HumanRobot Interaction, 2016, pp. 533-534.
  • [13] N. Pateromichelakis, A. Mazel, M. A. Hache, T. Koumpogiannis, R. Gelin, B. Maisonnier and A. Berthoz, “Head-eyes system and gaze analysis of the humanoid robot Romeo,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, pp. 1374-1379.
  • [14] T. Hashimoto, H. Kobayashi, A. Polishuk and I. Verner, “Elementary science lesson delivered by robot,” The 8th ACM/IEEE International Conference on Human-Robot Interaction, 2013, pp. 133-134.
  • [15] G. Trovato, T. Kishi, N. Endo, M. Zecca, K. Hashimoto and A. Takanishi, “Crosscultural perspectives on emotion expressive humanoid robotic head: Recognition of facial expressions and symbols,” Int. J. Soc. Robot, vol. 5, no. 4, pp. 515-527, 2013.
  • [16] “Hanson Robotics. Being Sophia”, https://www.hansonrobotics.com/ (Visited: Feb. 2023).
  • [17] “IEEE Geminoid DK. IEEE”, https://robots.ieee.org/robots/geminoiddk/. (Visited: Feb. 2023).
  • [18] Z. Faraj, M. Selamet, C. Morales, P. Torres, M. Hossain, B. Chen and H. Lipson “Facially expressive humanoid robotic face,” HardwareX, vol. 9, E00117, 2021.
  • [19] “Engineered Arts Limited. Ameca”, https://www.engineeredarts.co.uk/robot/ameca/. (Visited: Feb. 2023).
  • [20] “Human skull 3D model”, https://grabcad.com/library/3-parts-anatomical-skull-model. (Visited: Feb. 2023)
  • [21] “Human spine 3D model”, https://grabcad.com/library/human-spine-1. (Visited: Feb. 2023)
  • [22] P. G. Bullough and O. Boachie-Adjei “Iltlas of Spinal Diseases”. Lippincott, Philadelphia, 1988.
  • [23] B. Anson and C. McVay, “Surgical Anatomy,” Saunders, Philadelphia, 1971.
  • [24] IV. H. Hollinshead, “Anatomy for Surgeons” Harper & Row, Philadelphia, 1952.
  • [25] A.A. White and M.M. Panjabi “Clinical Biomechanics of the Spine,” J.B. Lippincott Company, Philadelphia, Toronto, 2nd edition, 1990.
  • [26] L. Ombregt, “A System of Orthopedic Medicine,” 3rd Edition ELSEVIER, 2013.
  • [27] T. M. Van Eijden, “Biomechanics of the Mandible,” Critical Reviews in Oral Biology & Medicine, vol. 11, no. 1, pp. 123-136, 2000.
  • [28] Y. K. Ozkan, “Movements and Mechanics of Mandible Occlusion Concepts and Laws of Articulation” Özkan Y. (eds) Complete Denture Prosthodontics. Springer, Cham. 2018.
  • [29] K. W. Wright, “Anatomy and Physiology of Eye Movements” Wright K.W., Spiegel P.H., Thompson L. S. (eds) Handbook of Pediatric Strabismus and Amblyopia. Springer, New York, NY, 2006.
  • [30] H. W. Lim, D. E. Lee, J. W. Lee, M. H. Kang, M. Seong, H. Y. Cho, J. E. Oh and S. Y. Oh, “Clinical measurement of the angle of ocular movements in the nine cardinal positions of gaze,” Ophthalmology, vol. 121, no. 4, pp. 870-876, 2014.
  • [31] G. Schweigart, T. Mergner, I. Evdokimidis, S. Morand and W. Becker, “Gaze Stabilization by Optokinetic Reflex (OKR) and Vestibulo-ocular Reflex (VOR) During Active Head Rotation in Man,” Vision Research, vol. 37, no. 12, pp. 1643-1652, 1997.
  • [32] M. Giesel, A. Yakovleva, M. Bloj, A.R. Wade, A.M. Norcia and J.M. Harris “Relative contributions to vergence eye movements of two binocular cues for motion-in-depth,” Scientific Reports, vol. 9, 17412, 2019.
  • [33] I. Bekerman, P. Gottlieb and M. Vaiman, “Variations in eyeball diameters of the healthy adults,” J Ophthalmol, 503645, 2014.
  • [34] N. A. Dodgson “Variation and extrema of human interpupillary distance,” SPIE 5291, Stereoscopic Displays and Virtual Reality Systems XI, 2004.
  • [35] S. Pham, B. Wilhelmi and A. Mowlavi, “Eyebrow Peak Position Redefined,” Aesthetic Surgery Journal, vol. 30, no. 3, pp. 297-300, 2010.
  • [36] S. J. Ahn, W. Rauh and H. Warnecke, “Least-squares orthogonal distances fitting of circle, sphere, ellipse, hyperbola, and parabola,” Pattern Recognition, vol. 34, 12, pp. 2283-2303, 2001.
  • [37] J. M. C. Malbouisson, A. A. V. eCruz, A. Messias, L. V. O. Leite and G. D. Rios, “Upper and Lower Eyelid Saccades Describe a Harmonic Oscillator Function,” Invest. Ophthalmol. Vis. Sci, vol. 46, no. 3, pp. 857-862, 2005.
  • [38] K. Nikola, I. Vladimir, A. Ivan, B. Nikola, M. Dusica and S.D. Ljubica, “Morphometric Analysis of the Palpebral Fissure and Canthal Distance in Serbian Young Adults,” International Journal of Morphology, vol. 38, no. 5, pp. 1381-1385, 2020.
  • [39] B. Gick, C. Mayer, C. Chiu, E. Widing, F. Roewer-Després, S. Fels and I. Stavness, “Quantal biomechanical effects in speech postures of the lips,” Journal of Neurophysiology, vol. 124, no. 3, pp. 833-843, 2019.
  • [40] I. Maddieson, “Pattern of Sounds” Cambridge, UK: Cambridge University Press, 1984.
  • [41] M. Eskes M., M. A. J. Balm, M. J. A. Van Alphen, L. E. Smeele, I. Stavness and F. Van Der Heijden, “Simulation of facial expressions using person-specific sEMG signals controlling a biomechanical face model,” Int J CARS, vol. 13, pp. 47-59, 2018.
  • [42] K. S. Talha, K. Wan, Z. Razlan and S. Mohamad, “Speech Analysis Based On Image Information from Lip Movement,” 5th International Conference on Mechatronics (ICOM’ 13), Kuala Lumpur, Malaysia, 2013, 53, pp. 1-18.
There are 42 citations in total.

Details

Primary Language English
Subjects Engineering
Journal Section Makaleler
Authors

Ihab Elaff 0000-0002-0913-5476

Publication Date May 31, 2023
Submission Date February 9, 2023
Acceptance Date May 29, 2023
Published in Issue Year 2023 Volume: 10 Issue: 2

Cite

IEEE I. Elaff, “Robotic Information System (RIS): Design of Humanoid Robot’s Head Based on Human Biomechanics”, El-Cezeri Journal of Science and Engineering, vol. 10, no. 2, pp. 420–432, 2023, doi: 10.31202/ecjse.1249294.
Creative Commons License El-Cezeri is licensed to the public under a Creative Commons Attribution 4.0 license.
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