仿人表情机器人的下颌机构设计与运动

doi:10.16183/j.cnki.jsjtu.2022.469

上海交通大学学报 ›› 2024, Vol. 58 ›› Issue (8): 1231-1239.doi: 10.16183/j.cnki.jsjtu.2022.469

仿人表情机器人的下颌机构设计与运动

赵威, 袁绍珂, 李忆楠, 费燕琼()

上海交通大学机器人研究所,上海 200240

收稿日期:2022-11-21 修回日期:2023-01-12 接受日期:2023-03-03 出版日期:2024-08-28 发布日期:2024-08-27
通讯作者: 费燕琼,教授,电话(Tel.):021-34201458; E-mail:fyq@sjtu.edu.cn.
作者简介:赵威(1996-),硕士生,从事仿人表情机器人研究.
基金资助:
国家重点研发项目(2022YFB4703202);深圳自由探索类基础研究项目(2021Szvup078);转化医学国家重大科技基础设施(上海)开放课题(TMSK-2021-110)

Design and Motion Analysis of Bionic Jaw Mechanism for Humanoid Expression Robot

ZHAO Wei, YUAN Shaoke, LI Yinan, FEI Yanqiong()

Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China

Received:2022-11-21 Revised:2023-01-12 Accepted:2023-03-03 Online:2024-08-28 Published:2024-08-27

摘要/Abstract

摘要：

针对目前仿人表情机器人口部运动模式单一的问题,基于人类下颌的解剖学运动机理,设计了一种新颖的多自由度仿生下颌机构.建立了仿生下颌机构的逆向运动学模型,分析了其运动模式,实现了仿生下颌机构在空间中的多自由度运动.对多自由度仿生下颌机构进行了多刚体仿真,并通过实验验证了其可行性.仿真和实验结果表明,基于逆向运动学模型,该机构可以模拟人类下颌的张合、前推、偏移3种基本运动模式,以及咀嚼、咬唇等口部复杂运动模式,弥补了现有仿人表情机器人口部运动模式受限的问题.

关键词: 仿生下颌, 仿生机器人, 表情机器人, 机构设计, 逆运动学分析

Abstract:

In order to solve the current problem of a single oral motion mode for the humanoid expression robot, a novel multi degree of freedom (DOF) bionic jaw mechanism was designed based on the anatomical motion mechanism of the human jaw. The inverse kinematics model of the mechanism was established, and the motion mode of the mechanism was analyzed to realize the multi DOF motion of the bionic jaw mechanism in space. A multi rigid body simulation of the bionic jaw mechanism was conducted, whose feasibility was verified by the experiments. The simulation and experimental results demonstrate that, based on the inverse kinematics model, the mechanism designed is able to simulate the three basic motion modes of human jaw, including open-close movement, protrusion movement, and side shifting movement, as well as the complex oral motion modes including chewing and lip biting. Therefore, the proposed mechanism can compensate for the limits of oral movement patterns of the existing humanoid robots.

Key words: bionic jaw, bionic robot, expression robot, mechanism design, inverse kinematic analysis

中图分类号:

TP242

赵威, 袁绍珂, 李忆楠, 费燕琼. 仿人表情机器人的下颌机构设计与运动[J]. 上海交通大学学报, 2024, 58(8): 1231-1239.

ZHAO Wei, YUAN Shaoke, LI Yinan, FEI Yanqiong. Design and Motion Analysis of Bionic Jaw Mechanism for Humanoid Expression Robot[J]. Journal of Shanghai Jiao Tong University, 2024, 58(8): 1231-1239.

图/表 13

图1

图2

表1

图3

图4

图5

图6

图7

图8

图9

图10

图11

图12

参考文献 20

[1]	WU F, LIN S, CAO X, et al. Head design and optimization of an emotionally interactive robot for the treatment of autism[C]// Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering. Shenzhen, China: Association for Computing Machinery, 2019: 1-10.
[2]	FARAJ Z, SELAMET M, MORALES C, et al. Facially expressive humanoid robotic face[J]. HardwareX, 2020, 9: e00117.
[3]	ISHIHARA H, YOSHIKAWA Y, ASADA M. Realistic child robot “affetto” for understanding the caregiver-child attachment relationship that guides the child development[C]// IEEE International Conference on Development and Learning. Frankfurt am Main, Germany: IEEE, 2011, 2: 1-5.
[4]	TOAN N K, THINH N T. Mechanical Design of robot head with human-like emotions[C]//21st International Conference on Control, Automation and Systems. Barcelona, Spain: IEEE, 2021: 1720-1725.
[5]	MADUMAL K A D A, JAYAWEERA J, ALAHAKOON P M K, et al. Design of voice synchronized robotic lips[C]// 2021 3rd International Conference on Electrical, Control and Instrumentation Engineering. Kuala Lumpur, Malaysia: IEEE, 2021: 1-5.
[6]	YANG Y, KE X, XIN J, et al. Development and experiment of facial robot SHFR-III[C]//2015 IEEE International Conference on Mechatronics and Automation. Beijing, China: IEEE, 2015: 1944-1949.
[7]	LIU H, CHEN W, GU H, et al. Design, Analysis and experimental research of humanoid head robot[C]// 2021 IEEE 11th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems. Jiaxing, China: IEEE, 2021: 909-914.
[8]	ZARINS U. Anatomy of facial expressions[M]. European Union: Exonicus Incorporated, 2018.
[9]	FANG J J, KUO T H. Modelling of mandibular movement[J]. Computers in Biology and Medicine, 2008, 38(11/12): 1152-1162.
[10]	OZKAN Y K. Movements and mechanics of mandible occlusion concepts and laws of articulation[M]. Turkey: Quintessence, 2018: 293-347.
[11]	EKMAN P, FRIESEN W V, TOMKINS S. Facial affect scoring technique: A first validity study[J]. Semiotica III, 1971, 3(1): 37-58.
[12]	EKMAN P, FRIESEN W V. Facial action coding system[J]. A Human Face, 2002, 73(2): 115-163.
[13]	王海杰. 人体系统解剖学[M]. 上海: 第二军医大学出版社, 2015.
	WANG Haijie. Human systemic anatomy[M]. Shanghai: Naval Medical University Press, 2015.
[14]	姜振宇. 微表情[M]. 北京: 中国友谊出版公司, 2020.
	JIANG Zhenyu. Microexpression[M]. Beijing: China Friendship Press, 2020.
[15]	张展铭. 论表情媒介[D]. 济南: 山东艺术学院, 2016.
	ZHANG Zhanming. The medium of expression[D]. Jinan: Shandong College of Arts, 2016.
[16]	EKMAN P. Emotions revealed[M]. 2nd ed. Denmark: Owl Books, 2003.
[17]	邵磊. 微表情分析[M]. 北京: 科学出版社, 2014.
	SHAO Lei. Microexpression analysis[M]. Beijing: Science Press, 2014.
[18]	LEMMONS M, BEEBE D. Oral anatomy and physiology[C]// Wiggs’s Veterinary Dentistry: Principles and Practice. Hoboken, USA: John Wiley and Sons, 2019: 1-24.
[19]	李娟. 不同年龄组正常人群的下颌运动轨迹及咀嚼肌表面肌电比较研究[D]. 昆明: 昆明医科大学, 2013.
	LI Juan. A comparative study of mandibular movement trajectory and masticatory muscle surface electromyography in normal people of different age groups[D]. Kunming: Kunming Medical University, 2013.
[20]	博煜. 图解微反应[M]. 北京: 现代出版社, 2016.
	BO Yu. The diagram of micro-reaction[M]. Beijing: Modern Press, 2016.

运动单元	下颌运动	对应肌肉
AU26	下颌下降	咬肌、颞肌、翼状肌
AU29	下颌外推	翼状肌
AU30	下颌侧移	翼状肌、咬肌、颞肌

仿人表情机器人的下颌机构设计与运动

Design and Motion Analysis of Bionic Jaw Mechanism for Humanoid Expression Robot

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 13

参考文献 20

相关文章 6

编辑推荐

Metrics

本文评价

[1]	王琦, 李绿洲, 董旭, 袁宁一, 丁建宁. 轨迹可控的微型水母机器人研制[J]. 上海交通大学学报, 2024, 58(8): 1240-1248.
[2]	丁显廷. 单细胞生命体的系统工作原理是什么？[J]. 上海交通大学学报, 2021, 55(Sup.1): 14-15.
[3]	何云涛1，孔博2,3，奚小冰2,3，罗云1. 一种用于桡骨远端骨折的新型医用小夹板设计与评价[J]. 上海交通大学学报（自然版）, 2018, 52(2): 194-199.
[4]	王江北，方晔阳，童歆，张帅，费燕琼. 多气囊仿生软体机器人设计及其运动特性分析[J]. 上海交通大学学报（自然版）, 2018, 52(1): 20-25.
[5]	周俊帆，罗云. 基于重力驱动的坐姿矫正机构原理及其设计[J]. 上海交通大学学报（自然版）, 2016, 50(02): 182-187.
[6]	徐明峰，朱良凡，周文选，罗云. 新型免载方式的膝关节矫形器设计与评价[J]. 上海交通大学学报（自然版）, 2014, 48(02): 181-186.