Gaze Guidance Using a Facial Expression Robot

摘要

This paper describes the gaze guidance with emotional expression of a head robot, called Kamin-FA1. We propose to use not only the gaze control of the robot, but also the facial expression to guide a human being's gaze to the target. We provide the information of the target of gaze intuitively to the human based on joint attention with Kamin-FA1. The robot has a facial expression function using a curved surface display. We examined the effect of emotional expression on the gaze guidance in terms of the accuracy and reaction speed. We conducted experiments of human gaze measurement during the gaze guidance with emotional expression to evaluate the role of emotional expression. The results of the gaze guidance experiments showed that gaze guidance with emotional expression caused a more accurate and quicker response than that without emotional expression. In particular, the expression of surprise has better performance in the gaze guidance compared with the normal expression. Furthermore, emotional expressions of angry and surprise impressed the subjects in dangerous situations, while normal and happy situations gave the impression of a safe situation at the target of gaze.