Nowadays, many robots have evolved to imitate human social skills such that sociable interaction with humans is possible. Socially interactive robots require abilities different from that of conventional robots. For instance, human-robot interactions are accompanied by emotion similar to human-human interactions. Robot emotional expression is thus very important for humans. This is particularly true for facial expressions, which play an important role in communication amongst other non-verbal forms. In this paper, we introduce a method of creating lifelike facial expressions in robots using variation of affect values which consist of the robot’s emotions based on emotional boundaries. The proposed method was examined by experiments of two facial robot simulators.

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.

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.