Generation of Facial Expression Emphasized with Cartoon Techniques Using a Cellular-Phone-Type Teleoperated Robot with a Mobile Projector

  • Yu Tsuruda
  • Maiya Hori
  • Hiroki Yoshimura
  • Yoshio Iwai
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8008)


We propose a method for generating facial expressions emphasized with cartoon techniques using a cellular-phone-type teleoperated android with a mobile projector. Elfoid is designed to transmit the speaker’s presence to their communication partner using a camera and microphone, and has a soft exterior that provides the look and feel of human skin. To transmit the speaker’s presence, Elfoid sends not only the voice of the speaker but also emotional information captured by the camera and microphone. Elfoid cannot, however, display facial expressions because of its compactness and a lack of sufficiently small actuator motors. In this research, facial expressions are generated using Elfoid’s head-mounted mobile projector to overcome the problem. Additionally, facial expressions are emphasized using cartoon techniques: movements around the mouth and eyes are emphasized, the silhouette of the face and shapes of the eyes are varied by projection effects, and color stimuli that induce a particular emotion are added. In an experiment, representative face expressions are generated with Elfoid and emotions conveyed to users are investigated by subjective evaluation.


Facial Expression Humanoid Robot Fearful Expression Happy Expression Facial Pattern 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Yu Tsuruda
    • 1
  • Maiya Hori
    • 1
  • Hiroki Yoshimura
    • 1
  • Yoshio Iwai
    • 1
  1. 1.Graduate School of EngineeringTottori UniversityKoyama-choJapan

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