機器人在情感表達上仍與人類有極大的差異，為了改善此一差別，本論文探討機器人臉使用一般平面顯示器與球體顯示器在數位情感模擬呈現的差異。球體顯示器為一與頭部形狀相似的360度顯示器，用於呈現機器人臉部表情，本論文利用人類視覺暫留原理，建構出一人機介面設計架構來呈現更真實的3D影像與文字，同時，更進一步的使用六一情緒模型(Six-One Emotions Model ,SO-EM)的情感表達，讓機器人臉部表情產生情緒上的變化，提供更人性化之設計，最後，再使用多執行緒的機制，讓機器人情緒之表達更貼近真實的人類的行為模式。在實驗方面，我們使用magicshow公司所製造的iBall球體顯示器來進行實驗，實驗結果呈現，3D球體顯示雖非為實際3D顯示器，卻提供了與平面顯示裝置更不一樣的呈現效果，如光線、材質、動畫及觀賞尺度，增加了空間呈現的不同角度，也增加了實體空間與擬真空間，同時也豐富了機器人與人類間之互動性。 Emotional expression has extreme difference between robots and human. To reduce the gap, this thesis investigates the perception difference between a traditional flat display device and a ball display device in the representation of robot facial expressions. A ball display device is a head-shape-alike omni-directional 2D display for robot facial expressions. Based on human visual staying phenomenon, a 2D ball display device constructs a human-machine interface (HMI) system for representing realistic 3D image and text. Furthermore, a six-one emotions model (SO-EM) is also manipulated to produce realistic emotional changes. Finally, using multi-threading mechanisms, the robot is more closer to the true expression of emotion in human behavior patterns. In our experiment, we utilize a ball display device, called iBall produced by Magicshow Company, to represent the behavior of an emotional robot. Experimental results show that iBall increases not only the space for showing the different perspectives of the display contents but also the physical and virtual reality space compared to traditional flat display devices, such as light, texture, animation and watching scales. It produces more interactions between human and robots while enriching more imagination and creativity of users.
