Socially Assistive Robot:
​Expressive Therapy Pet Robotic Face

December. 2019

The goal of this project is to create an animal-like therapeutic robotic face that is able to express different facial expressions in response to different physical contacts. The purpose of this project is to discover a possibility in helping elders with dementia and children with ASD.

This therapeutic robot face is able to express 2 different facial expressions (happy and neutral) driven by servo motors connected by strong braided fishing line. Different physical contacts can be recognized via force and flex sensors to trigger different expressions.  

3D Printed Dog Head:

• SLA Grey Resin
• Magic for materialization 
• Preform for editing the printing process
• Made for casting the face mask
  

Casted Face Mask:

• Mold Star 19T (Silicone Mold)
• Dragon Skin Fx-Pro (Face Mask)
• ​Rotary Casting 

3D Printed Skull:
​

• SLA Grey Resin
  
• 3D Builder to modify the STL file
• Preform to edit the printing process

3D Printed Body:

• SLA Flexible Resin 
• Integrated with force and flex sensors

Assembled Mechanism:

• 3D printed PLA motor mounts
• Strong Braided Fishing Wire

Control System:

• Arduino UNO
• Flex Sensor
• Force Sensor
• SG90 Servo Motors
• MG995 Servo Motors