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This study describes modeling and computational analysis technique for design of humanoid head that can
generate human-like facial expression. Current humanoid prototypes utilize either traditional servo motors or other form
of bulky actuators such as air muscles to deform soft elastomeric skin that in turn creates facial expression. However,
these prior methods have inherent drawbacks and do not resemble human musculature. In this paper, we report the
advances made in design of humanoid head using shape memory alloy actuators. These muscle-like actuators are often
in discrete form and finite in number. This brings up the fundamental question regarding their arrangement and location
of terminating and sinking points for each action unit. We address this question by developing a Graphical Facial
Expression Analysis and Design (GFEAD) technique that can be used to optimize the space, analyze the deformation
behavior, and determine the effect of actuator properties. GFEAD will be described through generic mathematical
models and analytical geometry confining the discussion to two-dimensional planes. The implementation of the
graphical method will be presented by considering different practical cases.
Yonas Tadesse andShashank Priya
"Determination of the sinking and terminating points of action unit on
humanoid skull through GFEAD", Proc. SPIE 7976, Electroactive Polymer Actuators and Devices (EAPAD) 2011, 79761V (28 March 2011); https://doi.org/10.1117/12.882007
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Yonas Tadesse, Shashank Priya, "Determination of the sinking and terminating points of action unit on humanoid skull through GFEAD," Proc. SPIE 7976, Electroactive Polymer Actuators and Devices (EAPAD) 2011, 79761V (28 March 2011); https://doi.org/10.1117/12.882007