可產生機械頭顱臉部表情之低自由度機構FACIAL EXPRESSION CONTROL DEVICE

專利類型

發明

專利國別 (專利申請國家)

法國

專利申請案號

12162015.7

專利證號

EP2602012B1

專利獲證名稱

可產生機械頭顱臉部表情之低自由度機構FACIAL EXPRESSION CONTROL DEVICE

專利所屬機關 (申請機關)

國立臺灣科技大學

獲證日期

2014/05/14

技術說明

本裝置之目的在於使用低自由度的創新機構，使機械頭顱具有展現多種臉部表情的功能。本創新機構可使用4個馬達來控制表情的變化。機構可分為上頭顱和下頭顱兩組，每一組由兩個馬達驅動，分別負責一個創新機構的旋轉以及移動，其中旋轉機構是用來選擇機械頭顱所要做動的表情類型；創新機構移動的自由度則使機構前後移動，在移動的過程中帶動機構中所配置的凸桿，而每一個被帶動的凸桿可牽動覆蓋在機械頭顱外部的臉皮內面的控制點，因此臉皮會隨著一組凸桿的移動而產生不同程度的變形而產生表情。如再配合機械頭顱下巴張合的動作，機械頭顱除了具有多種表情展現能力外還能產生恰當的嘴型。 The goal of this device is to generate facial expressions by using the small number actuator mechanism. The new mechanism is installed two facial expressional modules. These two modules take charge of the upper facial movements and the lower facial movements. Each of them is composed of two sub-assemblies which are the facial expression selection module and the clutch module. The selection module is installed an actuator for selecting the facial expression to show by rotating the mechanism. The clutch module is installed an actuator to make the whole selection module move along a straight line back and forth. When the clutch module is drove, some links will be moved to pull the control points which are set on the back side of the artificial skin. And the displacement of each control points can be adjusted by the length of link. In addition to combine the jaw motion not only can make the face robot has multiple facial expressions, but also can generate appropriate mouth shapes.

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