Development and application of projection-based robot face with multi-touch system

Existing robot faces have used as one-way emotional expression and communication device based on actuator control mostly. This paper is about robot face development as a bidirectional interaction interface, not one-way output or expression device, and the application. We added infrared-based touch input system to the uni-directional output device, and then implemented the robot face to be an independent bi-directional interaction interface itself. In addition, we focused on the `touching the face' behavior, so let the physical interaction be possible between human and robot through the developed graphic model and interaction scenarios. Lastly, we suggested several extendible touch interaction applications using this system.