1P1-F04 生体信号に基づく表情表出を支援するロボットマスクの開発

概要

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Various complications can retard or even paralyze the facial muscles resulting in severe physical and psychological distractions. This report presents part of the work of an on-going project to design a wearable supportive device to enhance facial expressiveness and support physiotherapy for facial paralyzed patients. The report introduces the SMA actuator based Robot Mask which consists of a head supporter, a motor and control unit, skin pulling arrangement and a bioelectrical signal processing unit. Expressions are produced by pulling the skin through wires attached to the face and since a facial expression is the result of full or partial activation of a combination of facial muscles, we introduce a compact and fully controllable actuation unit with feedback position control to pull anatomically positioned wires. We will also demonstrate the suitability of the actuator in terms of controllability to support facial expressiveness.