A speech-driven pupil response robot synchronized with burst-pause of utterance

Abstract

We have developed a pupil response robot called, “Pupiloid,” that generates pupil responses that are closely related to human emotions as well as gaze. Pupiloid can express human-like pupil response by using a mechanism that rotates feathers sterically. In this study, in order to create a smooth interaction between human and robot, we performed an analysis of pupil response during utterance by using a pupil measurement device. Based on the results, we propose a method in which the robot's pupil is dilated by being synchronized with the burst-pause of utterance. Then, we developed an advanced communication robot that was used with the Pupiloid in order to enhance the robot's affect during utterance. This advanced robot generates a vivid pupil response via mechanical structures based on the burst-pause of utterance. We carried out a sensory evaluation experiment under the condition that the robot speaks. The results demonstrated that the developed robot effectively enhances affect.