Page 198 - Designing Sociable Robots

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Facial Animation and Expression 179

Table 10.4
Human subject’s ability to map Kismet’s facial features to those of a human sketch. The human sketches are
shown in figure 10.12. An intensity difference was explored (content versus happy). An interesting blend of
positive valence with closed stance was also tested (the sly grin).

most similar sketch data comments
anger anger 10/10 Shape of mouth and eyebrows are strongest reported cues
disgust disgust 8/10 Shape of mouth is strongest reported cue
sly grin 2/10 Described as “sneering”
fear fear 7/10 Shape of mouth and eyes are strongest reported cues; mouth
open “aghast”
surprise 1/10 Subject associates look of “shock” with sketch of “surprise”
over “fear”
happy 1/10 Lip mechanics cause lips to turn up at ends, sometimes confused with
a weak smile
joy happy 7/10 Report lips and eyes are strongest cues; ears may provide arousal cue to
lend intensity
content 1/10 Report lips used as strongest cue
repulsion 1/10 Lip mechanics turn lips up at end, causing shape reminiscent of lips in
repulsion sketch
surprise 1/10 Perked ears, wide eyes lend high arousal; sometimes associated with a
pleasant surprise
sorrow sad 9/10 Lips reported as strongest cue, low ears may lend to low arousal
repulsion 1/10 Lip mechanics turn lips up and end, causing shape reminiscent of
repulsion sketch
surprise surprise 9/10 Reported open mouth, raised brows, wide eyes and elevated ears all
lend to high arousal
happy 1/10 Subject remarks on similarity of eyes, but not mouth
pleased content 9/10 Reported relaxed smile, ears, and eyes lend low arousal and
positive valence
sly grin 1/10 Subject reports the robot exhibiting a reserved pleasure; associated
with the “sly grin” sketch
sly grin sly grin 5/10 Lips and eyebrows reported as strongest cues
content 3/10 Subjects use robot’s grin as the primary cue
stern 1/10 Subject reports the robot looking “serious” which is associated
with “sly grin” sketch
repulsion 1/10 Lip mechanics curve lips up at end; subject sees similarity with lips
in “repulsion” sketch
stern stern 6/10 Lips and eyebrows are reported as strongest cues
mad 1/10 Subject reports robot looking “slightly cross;” cue on robot’s eyebrows
and pressed lips
tired 2/10 Subjects may cue in on robot’s pressed lips, low ears, lowered eyelids
sly grin 1/10 Subject reports similarity in brows