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A facial expression emotion recognition based human-robot interaction (FEER-HRI) system is proposed, for which a four-layer system framework is designed. The FEER-HRI system enables the robots not only to recognize human emotions, but also to generate facial expression for adapting to human emotions. A facial emotion recognition method based on 2D-Gabor, uniform local binary pattern (LBP) operator, and multiclass extreme learning machine (ELM) classifier is presented, which is applied to real-time facial expression recognition for robots. Facial expressions of robots are represented by simple cartoon symbols and displayed by a LED screen equipped in the robots, which can be easily understood by human. Four scenarios, i.e., guiding, entertainment, home service and scene simulation are performed in the human-robot interaction experiment, in which smooth communication is realized by facial expression recognition of humans and facial expression generation of robots within 2 seconds. As a few prospective applications, the FEER-HRI system can be applied in home service, smart home, safe driving, and so on.
Liu et al. (Sun,) studied this question.
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