tailieunhanh - Humanoid Robots Human-like Machines Part 15

Tham khảo tài liệu 'humanoid robots human-like machines part 15', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Affective Communication Model with Multimodality for Humanoids 551 For testing facial-only emotion recognition we conducted experiments with four people. For training we used five images per each emotion of each person. We set aside one from each category as test data use the rest of samples as training data. The recognition result is shown in Table 1. Facial expression-only emotion recognition yield performance of and for the two neural networks. Therefore we conducted weighted-summation to select the best result for each emotion from two neural networks and then achieved higher recognition rate of . Facial Expression - Neural Net. 1 Facial Expression - Neural Net. 2 Happy Happy Sad Sad Neutral Neutral Angry Angry Surprise Surprise Total Total Table 1. Performance of Emotion from Facial Expression In emotion recognition through facial expression there is a little variation between people according to the Ekman s facial expression features 35 . On the other hand there is a big difference in emotion recognition through speech because people have distinct and different voice. Especially the speech features of men and women are largely different. Accordingly we divided experiments into the two groups of men and women. In addition we selected 4 emotions except surprise because it is hard to recognize surprise from speech sentences. For four people two men and two women we trained 15 sentences frequently used in communication with the robot. The testers repeated one sentence for each emotion five times. We set aside one from each category as test data used the rest of samples as training data. The average recognition rate of men and women is shown in Table 2. Speech Expression - NN for Men Speech Expression - NN for Women Happy Happy Sad Sad Neutral Neutral Angry Angry Total Total 77 Table 2. Performance of Emotion from Speech .