Expression transmission using exaggerated animation for Elfoid

Maiya Hori, Yu Tsuruda, Hiroki Yoshimura, Yoshio Iwai

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


We propose an expression transmission system using a cellular-phone-type teleoperated robot called Elfoid. Elfoid has a soft exterior that provides the look and feel of human skin, and is designed to transmit the speaker's presence to their communication partner using a camera and microphone. To transmit the speaker's presence, Elfoid sends not only the voice of the speaker but also the facial expression captured by the camera. In this research, facial expressions are recognized using a machine learning technique. Elfoid cannot, however, display facial expressions because of its compactness and a lack of sufficiently small actuator motors. To overcome this problem, facial expressions are displayed using Elfoid's head-mounted mobile projector. In an experiment, we built a prototype system and experimentally evaluated it's subjective usability.

Original languageEnglish
Article number1219
JournalFrontiers in Psychology
Publication statusPublished - Aug 19 2015
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • General Psychology


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