This paper introduces a design of multi-dimensional complex emotional model for various complex emotional expression. It is a novel approach to design an emotional model by comparison with conventional emotional model which used a three-dimensional emotional space with some problems; the discontinuity of emotions, the simple emotional expression, and the necessity of re-designing the emotional model for each robot. To solve these problems, we have designed an emotional model. It uses a multi-dimensional emotional space for the continuity of emotion. A linear model design is used for reusability of the emotional model. It has the personality for various emotional results although it gets same inputs. To demonstrate the effectiveness of our model, we have tested with a human friendly robot.

The development of a face robot basically targets very natural human-robot interaction (HRI), especially emotional interaction. So does a face robot introduced in this paper, named Buddy. Since Buddy was developed for a mobile service robot, it doesn’t have a living-being like face such as human’s or animal’s, but a typically robot-like face with hard skin, which maybe suitable for mass production. Besides, its structure and mechanism should be simple and its production cost low. This paper introduces the mechanisms and functions of mobile face robot named Buddy which can take on natural and precise facial expressions and make dynamic gestures driven by one laptop PC. Buddy also can perform lip-sync, eye-contact, face-tracking for lifelike interaction. In addition, by adopting a customized emotional reaction decision model, Buddy can create own personality, emotion and motive using various sensor data input. Based on this model, Buddy can interact probably with users and perform real-time learning using personality factors. The interaction performance of Buddy is successfully demonstrated by experiments and simulations.

본 연구는 원예치료가 생활시설에 수용된 정신지체 장애인의 사회성과 위축을 중심으로 한 적응행동과 자기감정표현에 미치는 영향을 알아보고자 2006년 8월2일부터 2006년 12월27일까지 주1회 총 22회 실시하였다. 적응행동 평가 전체결과 사회화(p<0.01)와 위축(p<0.05)에서 유의한 의미를 보였다. 자기감정표현 평가 결과 유의한 차는 보이지 않았지만 전체 평균은 향상되었다. 원예치료 프로그램 결과물에 대한 성취감과 선물의 시간을 가지고 주고받음으로써 사회성과 위축에 변화를 가져다 준 것으로 판단된다.