KR20100006989U - Glueing structure of muscle-form for making face expression of android robot - Google Patents

Glueing structure of muscle-form for making face expression of android robot Download PDF

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KR20100006989U
KR20100006989U KR2020080017371U KR20080017371U KR20100006989U KR 20100006989 U KR20100006989 U KR 20100006989U KR 2020080017371 U KR2020080017371 U KR 2020080017371U KR 20080017371 U KR20080017371 U KR 20080017371U KR 20100006989 U KR20100006989 U KR 20100006989U
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muscle
robot
android
implant
present
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KR2020080017371U
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Korean (ko)
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허만홍
이동욱
이호길
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한국생산기술연구원
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • B25J11/0015—Face robots, animated artificial faces for imitating human expressions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/08—Muscles; Tendons; Ligaments
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H3/00—Dolls
    • A63H3/36—Details; Accessories
    • A63H3/365—Details; Accessories allowing a choice of facial features, e.g. to change the facial expression
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transplantation (AREA)
  • Cardiology (AREA)
  • Rehabilitation Therapy (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Adhesives Or Adhesive Processes (AREA)

Abstract

본 고안은 안드로이드 로봇 얼굴 표정생성을 위한 근육형상 접착구조물에 관한 것이다. The present invention relates to a muscle-like adhesive structure for the Android robot facial expression generation.

본 고안에 따른 접착구조물은 안드로이드 로봇의 얼굴 표정 생성을 위해 실제 사람의 근육에 기초하여 보형물을 제작하고, 적절한 위치에 부착함으로써 실제 형상을 움직였을 때 사람의 얼굴 근육과 유사한 표현이 가능하여, 안드로이드 로봇 분야에 유용하게 사용될 수 있다. The adhesive structure according to the present invention can produce an implant based on the muscles of a real person to create a facial expression of an android robot, and by attaching it at an appropriate position, it is possible to express similar to the human face muscles when the actual shape is moved. It can be usefully used in the field.

안드로이드, 로봇, 얼굴, 근육, 보형물 Android, robot, face, muscle, implant

Description

안드로이드 로봇 얼굴 표정생성을 위한 근육형상 접착구조물{GLUEING STRUCTURE OF MUSCLE-FORM FOR MAKING FACE EXPRESSION OF ANDROID ROBOT}Muscle-shaped adhesive structure for creating facial expressions on Android robots

본 고안은 안드로이드 로봇 얼굴 표정생성을 위한 근육형상 접착구조물에 관한 것이다.The present invention relates to a muscle-like adhesive structure for the Android robot facial expression generation.

원래 기계는 생산수단으로 산업구조에 배치되었는데, 사회환경의 다극화에 대응하여 로봇을 여러 가지 이상환경(異常環境)에 적응하는 기계로 등장시키게 되었고, 또한 자동제어기술이나 원격조종기술의 진보에 따라 우주나 해저, 고온이나 저온 등의 위험한 환경에서의 작업 또는 아주 단조로운 작업 등은 모두 인간에게는 부적합한 것인데, 현재는 이런 이상환경에서 로봇의 응용분야가 확대되고 있다.Originally, the machine was placed in the industrial structure as a means of production, and in response to the multipolarization of the social environment, the robot appeared as a machine adapting to various abnormal environments, and also with the advance of automatic control technology or remote control technology. Work in dangerous environments such as space, the sea floor, high or low temperatures, or very monotonous work is all unsuitable for humans. Currently, robots are expanding their applications in such abnormal environments.

로봇의 응용분야는 대체로 산업용, 의료용, 우주용, 해저용으로 분류된다.Robot applications are generally classified into industrial, medical, space, and submarine applications.

예를 들면, 자동차 생산과 같은 기계가공 공업에서는 사람의 팔이 하는 작업을 한 번만 가르쳐 주면 몇 시간이든 같은 동작을 반복하는 산업로봇이 이미 많이 가동되고 있고, 의료용 분야에서는 팔이 없는 사람의 의사(意思), 즉 운동신경으로 부터 보내 오는 명령을 근전위(筋電位)로 꺼내서 모터를 구동시키는 의수(義手)가 실용화되어 있으며, 우주개발에 있어서도 현재 러시아의 자동월면차(自動月面車) 루노호트(Lunokhod)와 같은 원격조종형 로봇이 개발되어 있다.For example, in the machining industry, such as automobile production, many industrial robots that repeat the same movement for hours are already in operation if only one task is taught by the human arm. Consciousness, a prosthetic hand that drives a motor by taking out the command from the motor nerve at the near-potential, has been put into practical use. Teleoperated robots such as Lunokhod have been developed.

최근에는 로봇을 조종형, 자동형 및 자율형으로 크게 나누는데, 조종형은 사람의 손이나 발에 해당하는 기능을 가진 기계를 멀리 떨어진 곳에서 조종하는 방식을 말하며, 텔레오퍼레이터 시스템(teleoperator system)이라고도 한다. 원자로(原子爐) 안에서 사용하고 있는 머니퓰레이터(manipulator:magic hand)가 조종형 로봇이다.Recently, robots are divided into pilot, autonomous, and autonomous, which is a method of manipulating a machine with a function corresponding to a human hand or foot from a distance, also called a teleoperator system. Manipulators (magic hands) used in nuclear reactors are controlled robots.

우주개발과 관련하여 미국에서는 우주왕복선(컬럼비아호 등)에 매니퓰레이터를 설치하여 우주공간에서 기술용역을 시킬 것을 실험하고 있으며, 또 루노호트와 같은 이동차에 매니퓰레이터나 텔레비전 카메라의 눈을 탑재하여 연락선에서 원격조정하는 것 등을 계획하고 있다. 이들 기술을 해양개발에서도 응용하려 하고 있고, 또한 화재의 소화, 불발탄의 제거 등 위험작업에도 응용될 것이다. 의료 분야에도 조종형 로봇은 진단, 치료, 수술 또는 리허빌리테이션(rehabilitation) 등 모든 장면에서 이용되리라 보고 있다.In relation to space development, the United States is experimenting with installing manipulators on space shuttles (Columbia, etc.) for technical services in space. Plans to remotely control the system. These technologies will be applied to marine development, and they will also be applied to hazardous work such as extinguishing fire and removing unexploded coal. In the medical field, the robot is expected to be used in all situations, including diagnosis, treatment, surgery or rehabilitation.

본 고안은 안드로이드 로봇의 얼굴 표정을 위하여 각각의 근육에 맞는 최적의 형상을 유지하면서도, 자연스러운 움직임을 구현하기 위한 근육형상의 구조물을 제공하고자 한다.The present invention is intended to provide a muscle-like structure for realizing the natural movement while maintaining the optimal shape for each muscle for facial expression of the Android robot.

본 고안은 안드로이드 로봇 얼굴 표정생성을 위한 근육형상 접착구조물을 제공한다.The present invention provides a muscle-like adhesive structure for the Android robot facial expression generation.

본 고안에 따른 접착구조물은 안드로이드 로봇의 얼굴 표정 생성을 위해 실제 사람의 근육에 기초하여 보형물을 제작하고, 적절한 위치에 부착함으로써 실제 형상을 움직였을 때 사람의 얼굴 근육과 유사한 표현이 가능하여, 안드로이드 로봇 분야에 유용하게 사용될 수 있다. The adhesive structure according to the present invention can produce an implant based on the muscles of a real person to create a facial expression of an android robot, and by attaching it at an appropriate position, it is possible to express similar to the human face muscles when the actual shape is moved. It can be usefully used in the field.

본 고안은 안드로이드 로봇 얼굴 표정생성을 위한 근육형상 접착구조물을 제공한다.The present invention provides a muscle-like adhesive structure for the Android robot facial expression generation.

사람의 피부에 해당하는 부위는 실리콘으로 제작이 되는데, 실리콘이 가지는 단 한 가지 경도로 사람과 흡사한 표정을 지니기는 어렵다. 이러한 단조로움으로 얼굴의 표정을 제작하는데 많은 어려움이 있으며, 이를 해결하기 위해 근육마다 조금씩 다른 방법으로 피부를 움직일 수 있는 방법이 필요하다. The part that corresponds to human skin is made of silicone, and it is difficult to have a facial expression similar to human with only one hardness of silicone. There is a lot of difficulty in producing facial expressions with such monotony, and to solve this problem, there is a need for a method that can move the skin in a slightly different way for each muscle.

본 고안은 실리콘으로 제작된 얼굴피부를 각 근육별로 움직임을 줄 때 각각의 위치에 따라 서로 다른 모습으로 움직임을 구현할 수 있다. 보다 상세하게는, 표정을 구현함에 있어 단조로운 움직임을 피하기 위해 실리콘 안쪽 부위에 특수한 모양의 보형물을 붙여 그 부분 주위에 더 많은 힘이 전달되도록 하며, 이로써 보형물의 모양이나 크기, 그리고 위치에 따라서 움직일 때 서로 다른 표정을 만들어 낼 수 있다.The present invention can realize the movement of the facial skin made of silicon in different shapes according to each position when the movement for each muscle. More specifically, to avoid monotonous movements in the expression, a specially shaped implant is attached to the inside of the silicone so that more force is transmitted around the portion, thereby moving according to the shape, size, and position of the implant. You can create different facial expressions.

본 고안은 안드로이드 로봇의 얼굴 표정생성에 관련된 것으로 실제 사람의 얼굴 표정 구현에 기초하여 보형물을 배치하였으며, 그 모양 또한 사람에 근육에 관련하여 자연스러운 형상을 유지하였다. 각각의 보형물들은 위치에 따라 서로 다른 형태를 지녀, 근육의 다른 부위의 움직임을 조절할 수 있다.The present invention relates to the generation of facial expressions of the Android robot, and the implants are arranged based on the actual human facial expressions, and the shape also maintains a natural shape in relation to the muscles of the human. Each implant can have a different shape depending on its location, which can control the movement of different parts of the muscle.

안드로이드 실리콘 얼굴에 위치한 수많은 근육들에 대해서 가장 적절한 보형물의 모양과 위치를 가지게 됨으로써, 보형물 부분에 힘을 주어 움직였을 때 외형의 자연스러운 변화와 사람의 얼굴 표정과 유사한 주름 표현이 가능하다. By having the shape and position of the most appropriate implant for the numerous muscles located on the Android silicone face, it allows for natural changes in appearance and wrinkles that resemble human facial expressions when applied to the implant.

또한, 본 고안은 보형물과 그 보형물을 움직이는 와이어와의 접합점이 탈착 및 부착이 가능한 형태로 제작하여 유지와 보수에 유리하다.In addition, the present invention is advantageous in the maintenance and repair by producing a form that can be attached and detached and attached to the implant and the moving wire of the implant.

사람의 얼굴은 80개의 근육으로 되어 있는데, 이러한 근육으로 인하여 7000여 가지의 표정을 지을 수 있다. 반면에, 로봇은 근육과 같은 역할을 하는 것이 모터인데, 그 모터의 크기에 따라 약 15 ~ 30개 정도의 배치가 가능하며, 이 수량으로 얼굴을 표현하기 위해서는 실제 사람의 얼굴에 사용되는 근육 중에서도 큰 근육위주로 보형물을 배치하여야 한다. 본 고안에 따른 근육형상 접착구조물은 그 모양에 따라 표현할 수 있는 얼굴표현의 수가 달라질 수 있어서, 각각의 주요 근육에 적합한 보형물의 모양을 결정할 수 있으며, 그 모양으로 인해 효과적이고 다양한 표현을 가능하다. The human face consists of 80 muscles, which can produce over 7,000 facial expressions. On the other hand, a robot is a motor that acts like a muscle, and depending on the size of the motor, about 15 to 30 can be arranged.In order to express a face with this quantity, among the muscles used for a real human face The implants should be placed around large muscles. The muscle-like adhesive structure according to the present invention can vary in the number of facial expressions that can be expressed according to the shape, it is possible to determine the shape of the implant suitable for each major muscle, due to the shape can be effective and various expressions.

본 고안을 첨부된 도면을 참조하여 상세히 설명하면 다음과 같다.The present invention will now be described in detail with reference to the accompanying drawings.

도 1은 보형물을 부착한 전체적인 모습을 보여준다. 각각의 형상이 어떻게 실리콘 외피의 안쪽에 부착이 되었는지 보여준다.(1)과 (2)의 조합으로 구성이 되어있으며 각각의 보형물에 붙은 와이어는 유지보수의 편리를 위하여 탈부착이 가능한 형식으로 제작이 되어 있다.Figure 1 shows the overall appearance of the implant attached. It shows how each shape is attached to the inside of the silicone sheath. It is composed of the combination of (1) and (2), and the wire attached to each prosthesis is manufactured in a detachable form for the convenience of maintenance. have.

도 1은 본 고안에 따른 근육형상 접착구조물이 적용된 얼굴형상 뒷면에 관한 것이고, Figure 1 relates to the back face shape to which the muscle-like adhesive structure according to the present invention is applied,

도 2는 본 고안에 따른 근육형상 접착구조물의 입술을 움직이기 위한 보형물에 관한 것이고, Figure 2 relates to the implant for moving the lips of the muscle-like adhesive structure according to the present invention,

도 3은 본 고안에 따른 근육형상 접착구조물의 입술 양쪽을 움직여 미소와 웃는 표정을 가능하게 하는 보형물에 관한 것이다.Figure 3 relates to the implant to enable a smile and smiley expression by moving both sides of the muscle-like adhesive structure according to the present invention.

Claims (2)

각각의 근육형상에 적합한 보형물의 형상.Shape of the implant suitable for each muscle shape. 보형물에 붙는 와이어를 볼트 구조로 탈부착이 가능하게 제작.The wire attached to the implant can be attached and detached with bolt structure.
KR2020080017371U 2008-12-30 2008-12-30 Glueing structure of muscle-form for making face expression of android robot KR20100006989U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012134212A2 (en) * 2011-03-31 2012-10-04 Korea Institute Of Industrial Technology Tongue module for robot
CN107696040A (en) * 2017-09-07 2018-02-16 广东富利盛仿生机器人股份有限公司 A kind of connector available for control machine human face's expression
US20200206904A1 (en) * 2017-09-15 2020-07-02 Groove X, Inc. Robot that acts comically, and structure thereof

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012134212A2 (en) * 2011-03-31 2012-10-04 Korea Institute Of Industrial Technology Tongue module for robot
WO2012134212A3 (en) * 2011-03-31 2013-01-03 Korea Institute Of Industrial Technology Tongue module for robot
CN107696040A (en) * 2017-09-07 2018-02-16 广东富利盛仿生机器人股份有限公司 A kind of connector available for control machine human face's expression
US20200206904A1 (en) * 2017-09-15 2020-07-02 Groove X, Inc. Robot that acts comically, and structure thereof
US11712796B2 (en) * 2017-09-15 2023-08-01 Groove X, Inc. Robot that acts comically, and structure thereof

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