||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.|
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