KR101336641B1 - Emotional Sympathy Robot Service System and Method of the Same - Google Patents

Abstract

The present invention relates to an emotional sympathetic robot service system and method thereof. Emotional sympathetic robot service system and method thereof of the present invention actively guides the user by using the sensing information, the image information, and the voice information received from the sensor, the image sensor, and the voice sensor, and obtains the image information and the voice information of the user. In obtaining, the robot continues to give a preset form of representation until the robotic system obtains the required recognition information desired for the user. By using the user's image information and audio information thus obtained, the user's situation and emotional state can be grasped so that the robot system can perform a customized conversation with the user and provide a service desired by the user. According to the present invention, the robot expresses the feedback (feedback) to the user (human) until the robot obtains the desired information, so that the user can finally have a dialogue between the user (human) and the robot, or the user There is an advantage that can provide the desired service, and this has the effect of providing a customized emotional sympathetic service suitable for any situation, place, time, etc.

Description

Emotional Sympathy Robot Service System and Method of the Same

The present invention relates to a robot service system, and more particularly, the robot expresses (feedback) to the user (human) until the robot obtains the desired recognition information, thereby ultimately creating a smooth dialogue between the user (human) and the robot. The present invention relates to an emotional sympathetic robot service system and a method for providing a service required by a user.

Today, systems that create or select emotions or actions using various sensor information such as visual, auditory, and tactile sensors are developed in the form of pet robots or intelligent robots. In order to express natural behavior, research on improving the function of the emotion engine and related systems is continuously conducted.

In addition, the development of a technology for detecting the user's intention by using such a sensor with the improvement of the function of the sensor device for detecting a change in the input and the state by the user for the natural interaction between the human and the robot, and driving the robot In order to express natural behavior even in a device, various researches on driver technology have been conducted.

In the case of a conventional robot in such a robot environment, a face, a voice, and the like are recognized by a sensor to recognize a face or a horse of a user. This recognition method has a relatively high recognition rate in cooperative situations, such as a laboratory or developer's lab, or a quiet room.However, non-cooperative situations, such as actual surroundings, lighting, noise, general public, majority, etc. In the situation, the recognition rate dropped significantly. Therefore, in the case of the existing service robot developed in a cooperative context, a problem occurs in that service is performed by remote control due to a lack of active interaction with a human (user) in the actual field. Research and development is underway to improve the recognition technology of robot video or audio in real environment, but this requires enormous investment costs and research periods, or the result of investment is not derived so that the company can enter the market and generate profit in the industrial field. Difficulties arise.

On the other hand, in the case of recent voice recognition smart devices (smartphones, smart tabs, tablet PCs, etc.) or robots, the recognition rate increases when speaking at a close distance, but when the distance is a little, the recognition rate drops significantly, resulting in irrelevant results. There is a problem. As a result, in the case of the conventional robot, there is a problem that the situation is immediately terminated or an unintended result is derived in an uncooperative situation.

The present invention was created in view of the above matters, and the robot creates an intentional cooperative situation by inducing the robot to guide the user (human) until the robot obtains the desired information, and finally, a dialogue appropriate to the situation between the user and the robot. The purpose of the present invention is to provide an emotional sympathetic robot service system and a method for sharing the information or providing a service required by a user.

In order to achieve the above object, the emotional sympathetic robot service system according to the present invention includes a sensor module including a sensor, an image sensor, and a voice sensor; A detection recognition unit extracting behavior information using the information received from the sensor, an image recognition unit extracting face information using the information received from the image sensor, and a voice using the information received from the voice sensor A situation recognition module including a speech recognition unit extracting language information; Receiving recognition information extracted from the detection recognition unit, the image recognition unit, and the voice recognition unit, it is determined whether the information is suitable for preset desired recognition information, and if the information is not suitable for the preset desired recognition information, the desired information is obtained. A service processing module for expressing the user's induction, and analyzing the user's situation and emotions using the recognition information when the user's information is suitable for the desired recognition information, and providing a service suitable for the user's emotions and situations; And an expression module configured to pre-set an expression externally according to the processing signal of the service processing module.

On the other hand, the service processing module includes a recognition information determining unit for determining whether the information is suitable for the predetermined desired recognition information by using the recognition information extracted from the detection recognition unit, the image recognition unit and the voice recognition unit; When the information is not suitable for the preset desired recognition information, the expression module is used to guide the user to obtain desired information. When the information is suitable for the desired recognition information, the user's situation and emotions are used by using the recognition information. A robot service determination unit configured to analyze the determination to provide a service suitable for a situation and emotion to a user through the expression module; And a robot expression processor configured to process information corresponding to a situation and emotion into data necessary for the robot expression through the robot service determiner.

The expression module may include an emotion expression unit configured to display a sound of music or sound effects, a representation of a human face or a certain character shape, or a visible light on a display; An action expression unit for expressing a specific motion or gesture or for driving; Speech expression unit to express in language; And a robot expression unit configured to allocate expression data to the emotion expression unit, the action expression unit, and the speech expression unit by using the processing signal received from the service processing module.

In addition, the expression module integrates and manages a conversation so as to perform a customized conversation with a user by using context and emotion information provided from the service processing module and information on a form or language of a conversation to be recommended. The conversation management unit for expressing through the speech expression unit further comprises.

In addition, the conversation manager includes an objective conversation processor, a chat conversation processor, and a query response unit as an integrated conversation management system.

On the other hand, Emotional sympathetic robot service method according to the present invention for achieving the above object, Emotional sympathetic robot service including a sensor module, a situation recognition module, a service processing module, a representation module including a sensor and an image sensor and a voice sensor An emotional sympathetic robot service method using a system, the method comprising: a) extracting behavior information, face information, and voice language information by a situation recognition module using information received from the sensor, image sensor, and voice sensor; b) determining, by the service processing module, whether the recognition information is suitable for preset desired recognition information by using the extracted recognition information; c) processing the service processing module to make a representation for user's induction when the recognition information does not fit the preset desired recognition information; d) analyzing, by the service processing module, the situation and emotion of the user using the recognition information when the recognition information is suitable for preset desired recognition information; And e) receiving a result of analyzing the situation and emotion of the user and expression processing information for inducing the user, and expressing, by the expression module, a preset expression externally.

On the other hand, step d) is to analyze the user's language and facial expressions by using the user's video information and audio information to analyze the situation and emotions according to the user's age, gender, and facial expression, This includes providing information about the form or language used.

In addition, in the step e), the preset type of expression for inducing the user may represent a preset language, display a visible light, output a preset music or sound effect, or perform a specific operation. (Gesture) or traveling, or at least one of expressing a human face or a certain character shape on a display.

According to the present invention, the robot expresses the user (human) until the robot obtains the desired information, thereby actively inducing user participation and creating an intentional cooperative situation, and finally, the situation between the robot and the user. It is possible to have a suitable conversation or to provide a proper service required by the user. Accordingly, the service robot for various purposes to which the present invention is applied, for example, a guide robot, an education robot, a robot for the elderly, a robot for home and office, and a home / office robot provide a customized emotional sympathetic service suitable for a user in any situation, place, and time. This can increase the user's satisfaction.

1 is a schematic configuration diagram of an emotional sympathetic robot service system according to an embodiment of the present invention.
2 is a flow chart showing an execution process of the emotional sympathetic robot service method according to an embodiment of the present invention.

In describing the present invention, the sizes and shapes of the components shown in the drawings may be exaggerated or simplified for clarity and convenience of explanation. In addition, terms that are specifically defined in consideration of the configuration and operation of the present invention may vary depending on the intention or custom of the user or operator. These terms are to be construed in accordance with the meaning and concept consistent with the technical idea of the present invention based on the contents throughout the present specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise. Also, the terms " part, "" module, "and" device " Lt; / RTI >

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a view schematically showing the configuration of an emotional sympathetic robot service system according to an embodiment of the present invention. Emotional sympathetic robot service system according to the present invention is generally specifically applied to a robot including a body, the robot body is provided with a display unit which is simultaneously input and output by a touch.

Referring to FIG. 1, the emotional sympathetic robot service system according to the present invention includes a sensor module 110, a situation recognition module 120, a service processing module 130, a representation module 150, and a database unit 140, 160. .

Sensor module 110 is usually installed on the outside of the robot body, the sensor 112 for detecting the distance or motion with the user, the image sensor 114 for detecting the image including the image and the voice for detecting the voice Sensor 116. The detection sensor 112 includes, for example, a distance sensor such as an ultrasonic sensor or an infrared sensor or a laser sensor that detects an object and detects a distance, and a motion detection sensor that detects an operation or a gesture. On the other hand, the image sensor 114 and the voice sensor 116 may be interpreted as a concept including a device, such as a camera, a microphone, etc. necessary for collecting the image and audio information.

The context recognition module 120 extracts necessary information among distance information, image information, and voice information using information received from various sensors of the sensor module 110 and transmits the necessary information to subsequent device elements. And an image recognition unit 124 and an audio recognition unit 126.

The sensor recognizer 122 extracts behavior information about a distance and a location, an operation, a posture, or a gesture with a user from the sensor information input from the sensor 112. The image recognition unit 124 performs image processing on the information input from the image sensor 114 to extract face information of the user. The voice recognition unit 126 extracts language information from the information input from the voice sensor 116.

The service processing module 130 may preset the recognition information using various recognition information extracted from the detection recognition unit 122, the image recognition unit 124, and the voice recognition unit 126 of the situation recognition module 120. It is determined whether it is suitable for the desired recognition information, and if it is not suitable for the preset desired recognition information, a process for expressing a user to obtain desired recognition information is processed. In addition, when suitable for the desired recognition information, the situation and emotion of the user are comprehensively analyzed using the recognition information to provide a service suitable for the situation and emotion to the user. In detail, the service processing module 130 includes a recognition information determining unit 132, a robot service determining unit 134, and a robot expression processing unit 136.

The recognition information determining unit 132 uses various types of recognition information extracted from the detection recognition unit 122, the image recognition unit 124, and the voice recognition unit 126 to determine whether the recognition information is suitable for the preset desired recognition information. Judge. For example, by using the user behavior information received through the detection recognition unit 122, when the distance from the user is out of the set distance, or when the user is out of the preset speed due to running or running, etc., detection DB If it is difficult to compare with the behavior information stored in the operation information 141 or cannot be compared with the predetermined behavior information, it is determined that it does not correspond to the desired recognition information. In addition, when face recognition information received through the image recognition unit 124 is insufficient or cannot be identified, it is difficult to compare with face information stored in the image DB 142 or cannot be compared to desired recognition information. Will be judged. If the speech language information received through the speech recognition unit 126 is insufficient or cannot be identified, it is difficult to compare or cannot compare the language information stored in the speech DB 143. Will be judged.

The robot service determination unit 134 uses the result determined by the recognition information determination unit 132 to process a user guided expression or to provide a service suitable for each situation to the user.

First, when the recognition information determiner 132 determines that it is not suitable for the desired recognition information, the robot service determiner 134 may perform a representation (feedback) for user induction through the expression module 150 to obtain desired information. Process. For example, if it is determined that the detected user's behavior does not correspond to the desired recognition information outside of the preset behavior information, the robot service determination unit 134 expresses the behavior in a form set through the expression module 150. Process. In addition, if it is determined that the face information does not correspond to the desired recognition information, the robot service determination unit 134 processes to guide the user to a position or posture where the face is well recognized through the expression module 150. And, if it is determined that the speech language information does not correspond to the desired recognition information, the robot service determination unit 134 causes the speech recognition through the expression module 150 to be well spoken or the user to the position where the speech recognition is well performed. Handle to make a derivation.

On the other hand, when it is determined that the recognition information determination unit 132 is suitable for the desired recognition information, the robot service determination unit 134 analyzes and determines the user's situation and emotion using the respective recognition information, and the expression module Through 150, to provide a service corresponding to each situation and emotion. In addition, the robot service determination unit 134 analyzes the user's language (language recognition information) and facial expressions (face recognition information) to provide information on the form of conversation or the language of recommendation. It is difficult to know the exact intentions, feelings, and states only by the language of the user. Therefore, by analyzing the facial expressions of the user, it is helpful to grasp the user's exact intention, emotion, state, etc. in more detail. For example, you can recognize moods by recognizing smiles, smiles, frowns, or angry expressions, increase the recognition rate of speech by recognizing mouth shape, and recognize the user's gender and age by recognizing faces. do. Therefore, the robot service determination unit 134 may determine the user's intention, emotion, mood, situation, etc. in consideration of all factors such as age, age, and gender by using voice and image information.

The robot expression processing unit 136 processes the expression for user guidance and the service suitable for the situation and emotion through the robot service determination unit 134 as necessary data suitable for the robot expression and transmits it to the expression module 150.

The expression module 150 expresses a preset expression externally according to the service processing signal of the service processing module 130, and specifically, the robot expression unit 152, the emotion expression unit 153, the action expression unit 154, and the speech The expression unit 156 and the conversation manager 155 are included.

The emotion expression unit 153 receives a processing signal from the robot expression unit 152 and displays emotion expression information stored in the emotion DB 161, that is, sounds such as music or sound effects, or a human face or a certain character shape, Or display the visible light. To this end, the robot body to which the present system is applied is provided with a speaker for expressing sound, a display for expressing a human face or a certain character shape, various lamps such as an LED for light display, and the touch unit. The emotion expression unit 153 is provided with an input unit to provide a UI screen for guiding a user, or to display a person or a predetermined character shape as described above, so that an appropriate emotion expression is performed when a conversation or expression with the user is performed. You can do it.

The action expression unit 154 receives a processing signal from the robot expression unit 152 and the action information stored in the action DB 162, that is, the robot body makes a specific motion or gesture (sneaking a robot face or shaking an arm, Express a wide range of movements of the robot's body, such as shaking or dancing the body) or to drive. The robot body may be provided with a driving unit including wheels and other various components to express the movement of the robot and to drive the robot.

The conversation manager 155 plays a role of making words necessary for speaking. In addition, the conversation managing unit 155 receives a processing signal from the robot expression unit 152 using the situation and emotion information provided from the service processing module 130 and information on the form or language of the conversation to be recommended, and the conversation DB The conversation is integratedly managed to perform a customized conversation with the user by using the conversation information stored in the 163. As such, the conversation manager 155 is an integrated conversation management system, which includes a conversational conversation processor that allows a user to talk with a user about a topic, a chatter that allows a user to talk about everyday life terms, and a user's question. It may include a query response unit 153 to enable the answer.

The speech expression unit 156 may utter words made by the conversation manager 155 through a speaker, and a text-to-speech (TTS) for synthesizing texts (characters) into speech and expressing them in words (language) may be used. It may be provided.

The robot expression unit 152 transmits the expression data received from the service processing module 130 to the emotion expression unit 153, the action expression unit 154, the conversation manager 155, and the speech expression unit 156. Assignment allows each of the above components to have an appropriate representation for their function.

The database unit 140 or 160 includes a sensing DB 141 storing various types of sensing information, an image DB 142 storing an image, especially facial information, and an audio DB 143 storing an audio, especially language information. The second database unit includes a first database unit 140, an emotion DB 161 in which emotion information is stored, an action DB 62 in which action information is stored, and a conversation DB 163 in which conversation information is stored. 160. The database units 140 and 160 may be installed on a robot body to which the present system is applied, or installed on a server installed outside to communicate with the robot body to exchange information.

Hereinafter, the emotional sympathetic robot service method by the emotional sympathetic robot service system according to the present invention having the above configuration will be described.

2 is a flowchart illustrating an execution process of an emotional sympathetic robot service method according to an exemplary embodiment of the present invention.

Referring to FIG. 2, the emotional sympathetic robot service method according to the present invention includes an emotion including the sensor module 110, the situation recognition module 120, the service processing module 130, and the expression module 150 as described above. As an emotional sympathetic robot service method by the sympathetic robot service system, first, the situation recognition module 120 extracts information using information collected from each sensor of the sensor module 110.

When receiving the detection information from the sensor 112 (S211), the detection recognizer 122 extracts the behavior information by using the detected information (S212). Using the extracted recognition information (distance information), the service processing module 130 determines whether it is suitable for preset desired recognition information (S213).

If it is not suitable for the desired recognition information, the service processing module 130 processes the necessary information to make a representation that induces the user's action, the representation module 150 is set in advance according to the instructions of the service processing module 130 To express the form (S214).

That is, when the user is detected but is out of a preset distance, position, posture, speed, etc., according to the processing signal of the service processing module 130, the expression module 150 displays the user in a preset form (feedback). To give. For example, through the speech expression unit 156, the words "Come near, are far away", "Please come a little closer", "Please do not run slowly", "Stand up and walk", or Emotional expression By visually blinking with a lamp through the display (153) or to switch the screen from the standby screen to the service screen on the display, or dance through the action expression unit 154 or to operate the driving unit to approach the user Try to express your actions.

In addition, when receiving image information from the image sensor 114 (S221), the image recognition unit 124 uses the image information to extract the face information among them (S222). Using the extracted recognition information (face information), the service processing module 130 determines whether it is suitable for preset desired recognition information (S223).

If it is not suitable for the desired recognition information, the service processing module 130 processes the necessary information to make a representation that induces movement or access to the location of the user to correctly recognize the face, the representation module 150 is a service processing module ( In accordance with the instructions of 130) to express the preset form (S224).

That is, after acquiring the user's image information and extracting the face information of the required person from among them, if it is determined that the extracted face information is not correctly identified or unclear and not the desired recognition information, the service processing module 130 In accordance with the processing signal, the presentation module 150 gives the user a presentation (feedback) in a preset form. For example, the expression may be expressed through the utterance expression unit 156 as "Please look straight, please see the (robot) face exactly", or play the pre-stored music through the emotional expression unit 153, or at the same time on the display unit An expression for inducing a user's face to be recognized by providing a screen such as a tempting or surprised expression of a human face or a character.

On the other hand, when the voice information is received from the voice sensor 116 (S231), the voice recognition unit 126 uses the voice information to extract the language information (S232). Using the extracted recognition information (language information), the service processing module 130 determines whether it is suitable for preset desired recognition information (S233).

If it is not suitable for the desired recognition information, the service processing module 130 will process the information necessary for the expression to induce the user to correctly recognize the language, the representation module 150 is instructed by the service processing module 130 In accordance with the expression to be set in advance (S224).

That is, after acquiring the voice information of the user and extracting the language information of the required person from among them, when the extracted language information is not recognized correctly or the language information cannot be obtained, the processing signal of the service processing module 130 In accordance with the expression module 150 gives the user a representation (feedback) of the preset form. For example, through the speech expression unit 156, "I do not know what you are talking about" or "Please speak clearly (clearly)." Or "is it right?" In order to induce user language recognition.

When it is determined that the acquired distance information, face information, and language information are suitable for the desired recognition information, the service processing module 130 analyzes the user's situation and feelings by using the acquired face information and language information of the user. Process to provide a service according to the situation and emotions (S240). That is, the service processing module 130 uses the recognized image information, for example, facial expression (to know mood), mouth shape (to increase voice recognition rate), gender, age (with or without end), etc. Know your gender, mood, and more. In addition, the service processing module 130 comprehensively considers the recognized face information (emotion, mood, age group, gender, height) and language information, and includes a purpose-oriented conversation, a chat type conversation, a question answer, Searches, conversations, and usual language are processed to communicate with the user, or when such conversations are performed or separately, expressions or gestures appropriate to the situation are processed, or touch inputs are performed.

Then, the expression module 150 performs a customized conversation with the user by the processing signal of the service processing module 130 (S260), or provides a speech or UI providing a user's touch input to the display unit or an expression or character. The shape is displayed (S250).

As described above, according to the present invention, the robot gives the user (human) an expression for induction (feedback) until the robot obtains necessary information, thereby actively inducing user participation and creating an intentional cooperation situation. Finally, it is possible to provide a service necessary for a dialogue or use between a robot and a user. As a result, it is possible to provide a customized emotional sympathetic service suitable for a user in any situation, place, time, etc., thereby increasing user satisfaction.

The present invention can be applied to various service robots. For example, an exhibition robot, a guide robot that can have a customized service conversation such as a guide, an interactive learning content, or an evaluation of self-paced learning and learning can be conducted at an exhibition, a hypermarket or a department store. To be able to talk and play with infants in educational robots, nursing homes, nursing homes, or senior hospitals, as a partner of the elderly, to solve the loneliness of the elderly and to feel intimacy and provide emotional stability. It can be applied to a kids robot, a home / office robot that provides personalized / optimized services in a home or a company.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, Accordingly, the true scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of the same should be construed as being included in the scope of the present invention.

110: sensor module 120: situation recognition module
122. Detection recognition unit 124. Image recognition unit
126. Voice recognition unit 130. Service processing module
132. Recognition Information Determination Unit 134. Robot Service Determination Unit
136. Robot Representation Processing Unit 150. Representation Module
152. Robot Expression Unit 153. Emotional Expression Unit
154. Behavior Expression Unit 155. Dialogue Management Unit
156. Speech Representation Department

Claims (8)

A sensor module including a detection sensor, an image sensor, and a voice sensor;
A detection recognition unit extracting behavior information using the information received from the sensor, an image recognition unit extracting face information using the information received from the image sensor, and a voice using the information received from the voice sensor A situation recognition module including a speech recognition unit extracting language information;
Receiving recognition information extracted from the detection recognition unit, the image recognition unit, and the voice recognition unit, it is determined whether the information is suitable for preset desired recognition information, and if the information is not suitable for the preset desired recognition information, A service processing module for expressing to induce a user's action to obtain, and analyzing a user's situation and emotions using the recognition information when the user's desired information is appropriate; And
A representation module configured to pre-set a representation externally according to a process signal of the service processing module,
The service processing module may include: a recognition information determiner configured to determine whether the information is suitable for predetermined preset recognition information using recognition information extracted from the detection recognition unit, the image recognition unit, and the voice recognition unit; If the information is not suitable for the preset desired recognition information, to express the user's behavior through the expression module to obtain the desired recognition information, if it is suitable for the desired recognition information by using the recognition information of the user A robot service determination unit that analyzes a situation and an emotion and determines to provide a service suitable for a situation and an emotion to a user through the expression module; And a robot expression processor configured to process information corresponding to situations and emotions through data required by the robot service determiner into data necessary for the robot expression.
delete The method of claim 1,
The expression module may include an emotional expression unit configured to display a sound of music or sound effects, or an expression of a human face or a certain character shape on a display, or light by a lamp;
An action expression unit for expressing a specific motion or gesture or for driving;
Speech expression unit to express in language; And
Emotional sympathetic robot service system comprising a robot expression unit for allocating expression data received from the service processing module to the emotional expression unit, the behavior expression unit, the speech expression unit.
The method of claim 3, wherein
The expression module uses the context and emotion information provided from the service processing module and information on the form or language of the conversation to be recommended, and manages the conversation in an integrated manner so as to perform a customized conversation with the user. Emotional sympathetic robot service system, characterized in that it further comprises a dialogue management unit to express through the wealth.
5. The method of claim 4,
The conversation manager includes an interactive conversation management unit, a chat conversation unit, and a question answering unit as an integrated conversation management system.
An emotional sympathetic robot service method by an emotional sympathetic robot service system including a sensor module including a sensor, an image sensor, and a voice sensor, a situation recognition module, a service processing module, and a representation module,
a) extracting behavior information, face information, and voice language information by the situation recognition module using the information received from the sensor, the image sensor, and the voice sensor;
b) determining, by the service processing module, whether the recognition information is suitable for preset desired recognition information by using the extracted recognition information;
c) processing the service processing module to present an expression for inducing a user's action through the expression module in order to obtain desired recognition information when the recognition information does not match preset preset recognition information;
d) if the recognition information is suitable for the preset desired recognition information, the service processing module analyzes the user's situation and emotion using the recognition information, and provides a service suitable for the user's situation and emotion through the expression module. Processing to make;
e1) the service processing module processing information with data necessary for bonding the service suitable for the user's situation and emotion and the expression for inducing the user's action to the robot representation; And
e2) Emotional sympathetic robot service method comprising the step of expressing the expression set in advance by the expression module.
The method according to claim 6,
Step d) analyzes the user's language and facial expression by using the user's video information and audio information to analyze the situation and emotion according to the user's age, gender, and facial expression, and at the same time, the form or use of the conversation to be recommended. Emotional sympathetic robot service method comprising providing information about the language.
The method according to claim 6,
In the step e2), the expression of a preset form for inducing a user's action may represent a preset language, display light with a lamp, output sound of a preset music or sound effect, or perform a specific operation ( Gestures) or driving, or expressing a human face or a predetermined character shape on a display.

Images