{"id":"https://openalex.org/W7127108229","doi":"https://doi.org/10.1002/cpe.70554","title":"Toward Enabling Facial Emotional Expressions in Humanoid Robots","display_name":"Toward Enabling Facial Emotional Expressions in Humanoid Robots","publication_year":2026,"publication_date":"2026-02-01","ids":{"openalex":"https://openalex.org/W7127108229","doi":"https://doi.org/10.1002/cpe.70554"},"language":"en","primary_location":{"id":"doi:10.1002/cpe.70554","is_oa":false,"landing_page_url":"https://doi.org/10.1002/cpe.70554","pdf_url":null,"source":{"id":"https://openalex.org/S11065456","display_name":"Concurrency and Computation Practice and Experience","issn_l":"1532-0626","issn":["1532-0626","1532-0634"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Concurrency and Computation: Practice and Experience","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5104022737","display_name":"Yongtong Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongtong Zhu","raw_affiliation_strings":["Institute of Machine Intelligence University of Shanghai for Science and Technology  Shanghai China"],"raw_orcid":"https://orcid.org/0009-0006-0172-8054","affiliations":[{"raw_affiliation_string":"Institute of Machine Intelligence University of Shanghai for Science and Technology  Shanghai China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124800644","display_name":"Lei Li","orcid":null},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Li","raw_affiliation_strings":["Institute of Machine Intelligence University of Shanghai for Science and Technology  Shanghai China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Machine Intelligence University of Shanghai for Science and Technology  Shanghai China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124850548","display_name":"Ji Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ji Hong","raw_affiliation_strings":["Institute of Machine Intelligence University of Shanghai for Science and Technology  Shanghai China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Machine Intelligence University of Shanghai for Science and Technology  Shanghai China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068347151","display_name":"W Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiye Liu","raw_affiliation_strings":["Institute of Machine Intelligence University of Shanghai for Science and Technology  Shanghai China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Machine Intelligence University of Shanghai for Science and Technology  Shanghai China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124830138","display_name":"Qingdu Li","orcid":null},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingdu Li","raw_affiliation_strings":["Institute of Machine Intelligence University of Shanghai for Science and Technology  Shanghai China"],"raw_orcid":"https://orcid.org/0000-0001-9928-7272","affiliations":[{"raw_affiliation_string":"Institute of Machine Intelligence University of Shanghai for Science and Technology  Shanghai China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020584921","display_name":"Ge Gao","orcid":"https://orcid.org/0000-0002-8159-9101"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ge Gao","raw_affiliation_strings":["Mech\u2010Mind Robotics Technologies Co. Ltd., Mech\u2010Mind Robotics  Beijing China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mech\u2010Mind Robotics Technologies Co. Ltd., Mech\u2010Mind Robotics  Beijing China","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124802890","display_name":"Youshuang Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Youshuang Ding","raw_affiliation_strings":["Mech\u2010Mind Robotics Technologies Co. Ltd., Mech\u2010Mind Robotics  Beijing China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mech\u2010Mind Robotics Technologies Co. Ltd., Mech\u2010Mind Robotics  Beijing China","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113057733","display_name":"Jialang He","orcid":null},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jialang He","raw_affiliation_strings":["The 32nd Research Institute China Electronics Technology Group Corporation  Shanghai China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The 32nd Research Institute China Electronics Technology Group Corporation  Shanghai China","institution_ids":["https://openalex.org/I2800372957"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007769094","display_name":"N. Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Na Liu","raw_affiliation_strings":["Institute of Machine Intelligence University of Shanghai for Science and Technology  Shanghai China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Machine Intelligence University of Shanghai for Science and Technology  Shanghai China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124772338","display_name":"Jianwei Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I70451448","display_name":"HAW Hamburg","ror":"https://ror.org/00fkqwx76","country_code":"DE","type":"education","lineage":["https://openalex.org/I70451448"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["Department of Informatics University of Hamburg  Hamburg Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics University of Hamburg  Hamburg Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I70451448"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5124829102","display_name":"Ye Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ye Yuan","raw_affiliation_strings":["Institute of Machine Intelligence University of Shanghai for Science and Technology  Shanghai China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Machine Intelligence University of Shanghai for Science and Technology  Shanghai China","institution_ids":["https://openalex.org/I148128674"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5124829102"],"corresponding_institution_ids":["https://openalex.org/I148128674"],"apc_list":{"value":4740,"currency":"USD","value_usd":4740},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10988606,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"38","issue":"3","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10667","display_name":"Emotion and Mood Recognition","score":0.39820000529289246,"subfield":{"id":"https://openalex.org/subfields/3205","display_name":"Experimental and Cognitive Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10667","display_name":"Emotion and Mood Recognition","score":0.39820000529289246,"subfield":{"id":"https://openalex.org/subfields/3205","display_name":"Experimental and Cognitive Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.2328999936580658,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11448","display_name":"Face recognition and analysis","score":0.14900000393390656,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.926800012588501},{"id":"https://openalex.org/keywords/facial-expression","display_name":"Facial expression","score":0.8188999891281128},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5809000134468079},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.5254999995231628},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44679999351501465},{"id":"https://openalex.org/keywords/mimicry","display_name":"Mimicry","score":0.444599986076355},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4027999937534332},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.37700000405311584},{"id":"https://openalex.org/keywords/emotional-expression","display_name":"Emotional expression","score":0.37400001287460327}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.926800012588501},{"id":"https://openalex.org/C195704467","wikidata":"https://www.wikidata.org/wiki/Q327968","display_name":"Facial expression","level":2,"score":0.8188999891281128},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.79830002784729},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6148999929428101},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5809000134468079},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5368000268936157},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.5254999995231628},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44679999351501465},{"id":"https://openalex.org/C7863114","wikidata":"https://www.wikidata.org/wiki/Q192627","display_name":"Mimicry","level":2,"score":0.444599986076355},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4027999937534332},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.37700000405311584},{"id":"https://openalex.org/C143110190","wikidata":"https://www.wikidata.org/wiki/Q5373787","display_name":"Emotional expression","level":2,"score":0.37400001287460327},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37130001187324524},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.3644999861717224},{"id":"https://openalex.org/C31510193","wikidata":"https://www.wikidata.org/wiki/Q1192553","display_name":"Facial recognition system","level":3,"score":0.3621000051498413},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.3603000044822693},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.3483000099658966},{"id":"https://openalex.org/C40346341","wikidata":"https://www.wikidata.org/wiki/Q1391629","display_name":"Facial Action Coding System","level":3,"score":0.32249999046325684},{"id":"https://openalex.org/C98907195","wikidata":"https://www.wikidata.org/wiki/Q5428562","display_name":"Facial motion capture","level":5,"score":0.3158999979496002},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3149000108242035},{"id":"https://openalex.org/C11207580","wikidata":"https://www.wikidata.org/wiki/Q5266817","display_name":"Developmental robotics","level":4,"score":0.3070000112056732},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.3050000071525574},{"id":"https://openalex.org/C90559484","wikidata":"https://www.wikidata.org/wiki/Q778379","display_name":"Expression (computer science)","level":2,"score":0.2906000018119812},{"id":"https://openalex.org/C138591656","wikidata":"https://www.wikidata.org/wiki/Q5157538","display_name":"Computer facial animation","level":4,"score":0.2736999988555908},{"id":"https://openalex.org/C4641261","wikidata":"https://www.wikidata.org/wiki/Q11681085","display_name":"Face detection","level":4,"score":0.27059999108314514},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C2777438025","wikidata":"https://www.wikidata.org/wiki/Q1339090","display_name":"Emotion recognition","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C206310091","wikidata":"https://www.wikidata.org/wiki/Q750859","display_name":"Emotion classification","level":2,"score":0.25369998812675476},{"id":"https://openalex.org/C6438553","wikidata":"https://www.wikidata.org/wiki/Q1185804","display_name":"Affective computing","level":2,"score":0.2529999911785126}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/cpe.70554","is_oa":false,"landing_page_url":"https://doi.org/10.1002/cpe.70554","pdf_url":null,"source":{"id":"https://openalex.org/S11065456","display_name":"Concurrency and Computation Practice and Experience","issn_l":"1532-0626","issn":["1532-0626","1532-0634"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Concurrency and Computation: Practice and Experience","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8","score":0.544784665107727}],"awards":[{"id":"https://openalex.org/G5750156312","display_name":null,"funder_award_id":"62206175","funder_id":"https://openalex.org/F4320331088","funder_display_name":"Natural Science Foundation for Young Scientists of Shanxi Province"}],"funders":[{"id":"https://openalex.org/F4320331088","display_name":"Natural Science Foundation for Young Scientists of Shanxi Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1709848863","https://openalex.org/W2004287364","https://openalex.org/W2035790869","https://openalex.org/W2051975505","https://openalex.org/W2102416463","https://openalex.org/W2108383447","https://openalex.org/W2108426047","https://openalex.org/W2117558308","https://openalex.org/W2133695754","https://openalex.org/W2137421946","https://openalex.org/W2279205120","https://openalex.org/W2307085674","https://openalex.org/W2329785677","https://openalex.org/W2507533913","https://openalex.org/W3189214702","https://openalex.org/W3207411812","https://openalex.org/W4206096767","https://openalex.org/W4294982690","https://openalex.org/W4307234290","https://openalex.org/W4385430674","https://openalex.org/W4387343928","https://openalex.org/W4387458784","https://openalex.org/W4389779188","https://openalex.org/W4390872742","https://openalex.org/W4392775459","https://openalex.org/W4393218512","https://openalex.org/W4403587499","https://openalex.org/W4405569030","https://openalex.org/W4405778623","https://openalex.org/W4405784977","https://openalex.org/W4416750081"],"related_works":[],"abstract_inverted_index":{"ABSTRACT":[0],"The":[1],"ability":[2],"to":[3,13,60,107,133],"generate":[4],"facial":[5,90,122,143,162],"expressions":[6,70],"is":[7],"essential":[8],"for":[9,148],"humanoid":[10,58,149],"social":[11,150],"robots":[12,59],"engage":[14],"in":[15,50],"natural,":[16],"human\u2010like":[17,69],"interactions.":[18],"This":[19],"capability":[20],"significantly":[21],"enhances":[22],"the":[23,29,126,134,141],"fluidity":[24],"of":[25,31,128,136,167],"human\u2010robot":[26],"communication":[27],"and":[28,53,160],"precision":[30],"emotional":[32],"expression.":[33],"However,":[34],"current":[35],"methods":[36],"rely":[37],"heavily":[38],"on":[39],"pre\u2010programmed":[40],"behavioral":[41],"patterns,":[42],"which":[43],"are":[44],"manually":[45],"implemented":[46],"at":[47],"considerable":[48],"cost":[49],"both":[51],"time":[52],"human":[54],"labor.":[55],"To":[56,74],"enable":[57],"autonomously":[61],"acquire":[62],"generalized":[63],"expressive":[64],"capabilities,":[65],"they":[66],"must":[67],"learn":[68],"via":[71],"self\u2010supervised":[72],"training.":[73],"address":[75],"this":[76,139],"challenge,":[77],"we":[78,110],"present":[79],"a":[80,129,165],"highly":[81],"biomimetic":[82],"robotic":[83],"face":[84],"equipped":[85],"with":[86,102],"physically":[87],"actuated":[88],"electronic":[89],"units,":[91],"alongside":[92],"an":[93,114],"end\u2010to\u2010end":[94],"learning":[95],"framework":[96],"that":[97,155],"integrates":[98],"Kolmogorov\u2010Arnold":[99],"Networks":[100],"(KAN)":[101],"attention":[103],"mechanisms.":[104],"In":[105],"contrast":[106],"previous":[108],"approaches,":[109],"have":[111],"also":[112],"developed":[113],"automated":[115],"data":[116],"collection":[117],"system":[118],"guided":[119],"by":[120],"expert\u2010designed":[121],"motion":[123],"primitives,":[124],"enabling":[125],"construction":[127],"high\u2010quality":[130],"dataset.":[131],"Notably,":[132],"best":[135],"our":[137,156],"knowledge,":[138],"constitutes":[140],"first":[142],"expression":[144],"dataset":[145],"specifically":[146],"designed":[147],"robots.":[151],"Extensive":[152],"evaluations":[153],"demonstrate":[154],"method":[157],"enables":[158],"accurate":[159],"diverse":[161],"mimicry":[163],"across":[164],"range":[166],"test":[168],"subjects.":[169]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2026-02-03T00:00:00"}