Robot Tongue Module Actuation for Android Facial Expression
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Solution Overview
Problem
Conventional android face robots lack a realistic tongue module that can move in multiple directions, limiting their ability to make varied facial expressions due to complex and costly structures, and existing tongue simulations are difficult to maintain and apply to android face robots.
Innovation Solution
A tongue module using a 2-degree-of-freedom driving apparatus with servo motors, crank arms, wires, and a linear rail assembly allows the tongue body to move in front and rear directions and bend up and down, mimicking an actual tongue's motion, featuring a composite silicon material tongue body and a simple structure for reduced production costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a conventional tongue structure is used in android face robots, then the robot can make basic facial expressions, but the ability to make varied facial expressions is limited
Solution Approach 1:
The tongue is divided into multiple segments (tongue body, tongue tip, tongue sides) that can be controlled independently through separate actuation mechanisms, enabling varied facial expressions while maintaining manageable structural complexity
Solution Approach 2:
The tongue structure incorporates movable and flexible components that allow dynamic adjustment of tongue position and shape in real-time, enhancing expression variety without requiring a completely complex static structure
2Adaptability or versatility
If a realistic tongue module with multiple degree-of-freedom driving is implemented, then facial expression capability is enhanced, but production cost and device complexity increase
Solution Approach 1:
The tongue module is extracted as a separate, modular unit that can be independently manufactured and then integrated into the android face robot, reducing overall production complexity and cost while maintaining realistic expression capability
Solution Approach 2:
The tongue utilizes flexible materials and thin-film structures that can be easily manufactured and shaped, reducing production costs while maintaining the ability to perform complex motions for realistic facial expressions
3Ease of operation
If existing tongue simulation devices are used, then tongue motion can be simulated, but maintenance and repair become difficult
Solution Approach 1:
The tongue module is segmented into distinct functional components (actuator, linkage, tongue body) that can be independently maintained and repaired, making maintenance easier compared to integrated complex systems
Solution Approach 2:
The tongue module incorporates self-lubricating and self-adjusting mechanisms that reduce the need for external maintenance and repair operations, enabling the system to maintain itself with minimal human intervention
4Ease of manufacture
If a simple tongue structure is used, then production cost is reduced, but the ability to move in multiple directions is limited
Solution Approach 1:
The tongue module utilizes pneumatic or hydraulic actuation mechanisms that can generate multi-directional motion through fluid pressure, achieving complex motion capabilities while keeping the mechanical structure simple and cost-effective
Solution Approach 2:
The tongue structure employs variable geometric parameters and adjustable linkages that can change their configuration based on actuation signals, enabling multi-directional motion without requiring a permanently complex structure
Data Source
AI summary
The present invention relates to a tongue module for a robot which is installed in an android face robot formed to have a similar external appearance to a human face and to express feelings. The tongue module includes a tongue body made of composite silicon material and formed to have smooth texturing; a front and rear driving unit configured to move the tongue body in front and rear directions by using a crank arm and a first servo motor; an up and down driving unit configured to bend the tongue body in up and down directions by using wires and a second servo motor; and a linear rail assembly configured to move the tongue body in a straight line.