A robotic head that displays japanese ‘‘manga’’ marks

Tatsuhiro Kishi, Hajime Futaki, Gabriele Trovato, Nobutsuna Endo, Matthieu Destephe, Sarah Cosentino, Kenji Hashimoto, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper describes the development of a robotic head with ability to display marks commonly used in ‘‘manga’’ (Japanese comics). To communicate with humans, robots should have an expressive facial expression ability for indicating its inner state. Our previous research suggests that, robots can express its emotion clearly if it perform facial expressions that can adapt with the cultural background of the communication partner. As a first step, we focus on making expressions for Japanese people. Manga mark is a unique and famous way of emotion expression in Japanese culture. In a previous preliminary experiment, we determined facial expressions for the robot KOBIAN-R with manga marks. Those expressions included four manga marks as ‘‘Cross popping veins’’ for ‘‘Anger’’, ‘‘Tear mark’’ for ‘‘Sadness’’, ‘‘Vertical lines’’ for ‘‘Fear’’ and ‘‘Wrinkle’’ for ‘‘Disgust’’. A new head that express these marks was developed. Flexible full color LED matrix display and mechanism for indicating black lines were implemented. Experimental evaluation shows that the new robotic head has over 90% average emotion recognition rates by 30 Japanese participants for each of the six emotions.

Original languageEnglish
Title of host publicationMechanisms and Machine Science
PublisherKluwer Academic Publishers
Number of pages9
ISBN (Print)9783319070575
Publication statusPublished - 2014
Event20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014 - Moscow, Russian Federation
Duration: 2014 Jun 232014 Jun 26


Other20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014
CountryRussian Federation

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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  • Cite this

    Kishi, T., Futaki, H., Trovato, G., Endo, N., Destephe, M., Cosentino, S., Hashimoto, K., & Takanishi, A. (2014). A robotic head that displays japanese ‘‘manga’’ marks. In Mechanisms and Machine Science (Vol. 22, pp. 245-253). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-07058-2_28