{"id":"https://openalex.org/W7140188603","doi":"https://doi.org/10.3389/frobt.2026.1798227","title":"Automated capture and transfer of human facial expressions to humanoid robots for realistic patient simulation","display_name":"Automated capture and transfer of human facial expressions to humanoid robots for realistic patient simulation","publication_year":2026,"publication_date":"2026-03-24","ids":{"openalex":"https://openalex.org/W7140188603","doi":"https://doi.org/10.3389/frobt.2026.1798227","pmid":"https://pubmed.ncbi.nlm.nih.gov/41953327"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2026.1798227","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2026.1798227","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2026.1798227/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2026.1798227/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Patricia Schwarz","orcid":null},"institutions":[{"id":"https://openalex.org/I129877168","display_name":"Carl von Ossietzky Universit\u00e4t Oldenburg","ror":"https://ror.org/033n9gh91","country_code":"DE","type":"education","lineage":["https://openalex.org/I129877168"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Patricia Schwarz","raw_affiliation_strings":["Assistance Systems and Medical Device Technology, Department for Health Services Research, School of Medicine and Health Sciences, Carl von Ossietzky University of Oldenburg"],"affiliations":[{"raw_affiliation_string":"Assistance Systems and Medical Device Technology, Department for Health Services Research, School of Medicine and Health Sciences, Carl von Ossietzky University of Oldenburg","institution_ids":["https://openalex.org/I129877168"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sebastian Spanknebel","orcid":null},"institutions":[{"id":"https://openalex.org/I129877168","display_name":"Carl von Ossietzky Universit\u00e4t Oldenburg","ror":"https://ror.org/033n9gh91","country_code":"DE","type":"education","lineage":["https://openalex.org/I129877168"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Spanknebel","raw_affiliation_strings":["Department of Psychiatry and Psychotherapy, School of Medicine and Health Sciences, Carl von Ossietzky University of Oldenburg"],"affiliations":[{"raw_affiliation_string":"Department of Psychiatry and Psychotherapy, School of Medicine and Health Sciences, Carl von Ossietzky University of Oldenburg","institution_ids":["https://openalex.org/I129877168"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Diana Immel","orcid":null},"institutions":[{"id":"https://openalex.org/I129877168","display_name":"Carl von Ossietzky Universit\u00e4t Oldenburg","ror":"https://ror.org/033n9gh91","country_code":"DE","type":"education","lineage":["https://openalex.org/I129877168"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Diana Immel","raw_affiliation_strings":["Department of Psychiatry and Psychotherapy, School of Medicine and Health Sciences, Carl von Ossietzky University of Oldenburg"],"affiliations":[{"raw_affiliation_string":"Department of Psychiatry and Psychotherapy, School of Medicine and Health Sciences, Carl von Ossietzky University of Oldenburg","institution_ids":["https://openalex.org/I129877168"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Rene Hurlemann","orcid":null},"institutions":[{"id":"https://openalex.org/I129877168","display_name":"Carl von Ossietzky Universit\u00e4t Oldenburg","ror":"https://ror.org/033n9gh91","country_code":"DE","type":"education","lineage":["https://openalex.org/I129877168"]},{"id":"https://openalex.org/I4210149830","display_name":"Karl Jaspers Stiftung","ror":"https://ror.org/04wz85195","country_code":"CH","type":"nonprofit","lineage":["https://openalex.org/I4210149830"]}],"countries":["CH","DE"],"is_corresponding":false,"raw_author_name":"Rene Hurlemann","raw_affiliation_strings":["Department of Psychiatry and Psychotherapy, School of Medicine and Health Sciences, Carl von Ossietzky University of Oldenburg","Karl Jaspers Clinic"],"affiliations":[{"raw_affiliation_string":"Department of Psychiatry and Psychotherapy, School of Medicine and Health Sciences, Carl von Ossietzky University of Oldenburg","institution_ids":["https://openalex.org/I129877168"]},{"raw_affiliation_string":"Karl Jaspers Clinic","institution_ids":["https://openalex.org/I4210149830"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Andreas Hein","orcid":null},"institutions":[{"id":"https://openalex.org/I129877168","display_name":"Carl von Ossietzky Universit\u00e4t Oldenburg","ror":"https://ror.org/033n9gh91","country_code":"DE","type":"education","lineage":["https://openalex.org/I129877168"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Hein","raw_affiliation_strings":["Assistance Systems and Medical Device Technology, Department for Health Services Research, School of Medicine and Health Sciences, Carl von Ossietzky University of Oldenburg"],"affiliations":[{"raw_affiliation_string":"Assistance Systems and Medical Device Technology, Department for Health Services Research, School of Medicine and Health Sciences, Carl von Ossietzky University of Oldenburg","institution_ids":["https://openalex.org/I129877168"]}]},{"author_position":"last","author":{"id":null,"display_name":"Sandra Hellmers","orcid":null},"institutions":[{"id":"https://openalex.org/I129877168","display_name":"Carl von Ossietzky Universit\u00e4t Oldenburg","ror":"https://ror.org/033n9gh91","country_code":"DE","type":"education","lineage":["https://openalex.org/I129877168"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sandra Hellmers","raw_affiliation_strings":["Assistance Systems and Medical Device Technology, Department for Health Services Research, School of Medicine and Health Sciences, Carl von Ossietzky University of Oldenburg"],"affiliations":[{"raw_affiliation_string":"Assistance Systems and Medical Device Technology, Department for Health Services Research, School of Medicine and Health Sciences, Carl von Ossietzky University of Oldenburg","institution_ids":["https://openalex.org/I129877168"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I129877168"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.63584112,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"1798227","last_page":"1798227"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10667","display_name":"Emotion and Mood Recognition","score":0.5232999920845032,"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":0.5232999920845032,"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":0.35339999198913574,"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":0.02419999986886978,"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":0.8312000036239624},{"id":"https://openalex.org/keywords/facial-expression","display_name":"Facial expression","score":0.8169999718666077},{"id":"https://openalex.org/keywords/disgust","display_name":"Disgust","score":0.6495000123977661},{"id":"https://openalex.org/keywords/uncanny-valley","display_name":"Uncanny valley","score":0.5651999711990356},{"id":"https://openalex.org/keywords/surprise","display_name":"Surprise","score":0.508899986743927},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4952999949455261},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.423799991607666},{"id":"https://openalex.org/keywords/anger","display_name":"Anger","score":0.42239999771118164},{"id":"https://openalex.org/keywords/emotion-classification","display_name":"Emotion classification","score":0.4002000093460083}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8312000036239624},{"id":"https://openalex.org/C195704467","wikidata":"https://www.wikidata.org/wiki/Q327968","display_name":"Facial expression","level":2,"score":0.8169999718666077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7831000089645386},{"id":"https://openalex.org/C2777375102","wikidata":"https://www.wikidata.org/wiki/Q208351","display_name":"Disgust","level":3,"score":0.6495000123977661},{"id":"https://openalex.org/C2365568","wikidata":"https://www.wikidata.org/wiki/Q844664","display_name":"Uncanny valley","level":3,"score":0.5651999711990356},{"id":"https://openalex.org/C2780343955","wikidata":"https://www.wikidata.org/wiki/Q333173","display_name":"Surprise","level":2,"score":0.508899986743927},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4999000132083893},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4952999949455261},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49410000443458557},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.423799991607666},{"id":"https://openalex.org/C2779302386","wikidata":"https://www.wikidata.org/wiki/Q79871","display_name":"Anger","level":2,"score":0.42239999771118164},{"id":"https://openalex.org/C206310091","wikidata":"https://www.wikidata.org/wiki/Q750859","display_name":"Emotion classification","level":2,"score":0.4002000093460083},{"id":"https://openalex.org/C40346341","wikidata":"https://www.wikidata.org/wiki/Q1391629","display_name":"Facial Action Coding System","level":3,"score":0.3856000006198883},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.38519999384880066},{"id":"https://openalex.org/C143110190","wikidata":"https://www.wikidata.org/wiki/Q5373787","display_name":"Emotional expression","level":2,"score":0.37709999084472656},{"id":"https://openalex.org/C150303390","wikidata":"https://www.wikidata.org/wiki/Q1983852","display_name":"Virtual actor","level":3,"score":0.36579999327659607},{"id":"https://openalex.org/C90559484","wikidata":"https://www.wikidata.org/wiki/Q778379","display_name":"Expression (computer science)","level":2,"score":0.36250001192092896},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3366999924182892},{"id":"https://openalex.org/C138591656","wikidata":"https://www.wikidata.org/wiki/Q5157538","display_name":"Computer facial animation","level":4,"score":0.335999995470047},{"id":"https://openalex.org/C2777365542","wikidata":"https://www.wikidata.org/wiki/Q83090","display_name":"Avatar","level":2,"score":0.329800009727478},{"id":"https://openalex.org/C98907195","wikidata":"https://www.wikidata.org/wiki/Q5428562","display_name":"Facial motion capture","level":5,"score":0.31610000133514404},{"id":"https://openalex.org/C6438553","wikidata":"https://www.wikidata.org/wiki/Q1185804","display_name":"Affective computing","level":2,"score":0.29109999537467957},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.2883000075817108},{"id":"https://openalex.org/C2777438025","wikidata":"https://www.wikidata.org/wiki/Q1339090","display_name":"Emotion recognition","level":2,"score":0.2802000045776367},{"id":"https://openalex.org/C25344961","wikidata":"https://www.wikidata.org/wiki/Q192726","display_name":"Virtual machine","level":2,"score":0.2632000148296356},{"id":"https://openalex.org/C2780905192","wikidata":"https://www.wikidata.org/wiki/Q2341604","display_name":"Facial muscles","level":2,"score":0.2563999891281128},{"id":"https://openalex.org/C145633318","wikidata":"https://www.wikidata.org/wiki/Q207125","display_name":"Nonverbal communication","level":2,"score":0.25609999895095825},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3389/frobt.2026.1798227","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2026.1798227","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2026.1798227/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:41953327","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41953327","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:13054010","is_oa":true,"landing_page_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC13054010/","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3389/frobt.2026.1798227","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2026.1798227","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2026.1798227/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7140188603.pdf","grobid_xml":"https://content.openalex.org/works/W7140188603.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W1966797434","https://openalex.org/W1989104072","https://openalex.org/W1993446323","https://openalex.org/W2034881292","https://openalex.org/W2129454685","https://openalex.org/W2153640284","https://openalex.org/W2271927423","https://openalex.org/W2624736049","https://openalex.org/W2794630529","https://openalex.org/W2902219462","https://openalex.org/W2962018042","https://openalex.org/W3092190099","https://openalex.org/W3114195756","https://openalex.org/W3161217924","https://openalex.org/W3163729758","https://openalex.org/W4211156140","https://openalex.org/W4233863999","https://openalex.org/W4389411497","https://openalex.org/W4403256314"],"related_works":[],"abstract_inverted_index":{"Realistic":[0],"reproduction":[1],"of":[2,61,203,215],"human":[3,24,77,205],"facial":[4,25,53,89,130,206,217],"expressions":[5,26,191,207],"is":[6,133],"essential":[7],"for":[8,22,58,226],"realistic":[9,228],"interactions":[10],"between":[11],"humans":[12],"and":[13,31,40,84,98,105,110,152,176,231],"humanoid":[14,29,85,209],"robots.":[15],"This":[16],"work":[17],"presents":[18],"a":[19,28,32,122,223],"data-driven":[20],"framework":[21,221],"transferring":[23,204],"to":[27,36,208],"robot":[30],"virtual":[33,81],"avatar,":[34],"aiming":[35],"enhance":[37],"emotional":[38],"expressiveness":[39],"assess":[41],"its":[42],"applicability":[43],"in":[44,234],"psychiatric":[45],"training":[46,232],"scenarios.":[47],"The":[48,219],"proposed":[49,220],"approach":[50],"enables":[51],"cross-domain":[52],"expression":[54,101,131],"mapping":[55],"while":[56,211],"accounting":[57],"mechanical":[59,138],"constraints":[60],"robotic":[62,216],"actuation.":[63,218],"A":[64],"user":[65],"study":[66],"(n":[67],"=":[68],"40)":[69],"evaluated":[70],"emotion":[71],"recognition":[72,162],"across":[73],"three":[74],"stimulus":[75],"categories:":[76],"faces":[78],"(H),":[79],"unconstrained":[80],"avatars":[82],"(A)":[83],"robots":[86,210],"with":[87,104,193],"limited":[88],"actuation":[90],"(R).":[91],"Participants":[92],"identified":[93],"emotions":[94,142,166],"from":[95,99],"static":[96],"images":[97],"dynamic":[100],"sequences,":[102],"presented":[103],"without":[106],"speech.":[107],"Perceived":[108],"realism":[109],"uncanny":[111],"valley":[112],"effects":[113],"were":[114,184],"assessed":[115],"using":[116],"an":[117],"eight-item":[118],"questionnaire":[119],"rated":[120],"on":[121,187],"7-point":[123],"Likert":[124],"scale.":[125],"Results":[126],"indicate":[127],"that":[128],"human-to-robot":[129],"transfer":[132],"feasible":[134],"but":[135],"constrained":[136],"by":[137],"expressivity.":[139],"Highly":[140],"expressive":[141],"such":[143,167],"as":[144,168],"surprise":[145],"(H:":[146,154,170,178],"87.5%;":[147],"A:":[148,156,172,180],"57.5%;":[149],"R:":[150,158,174,182],"65%)":[151],"fear":[153],"45%;":[155],"27.5%;":[157],"57.5%)":[159],"achieved":[160],"moderate":[161],"rates,":[163],"whereas":[164],"subtle":[165],"anger":[169],"65%;":[171],"40%;":[173],"12.5%)":[175],"disgust":[177],"60%;":[179],"10%;":[181],"22.5%)":[183],"poorly":[185],"recognized":[186],"the":[188,201],"robot.":[189],"Dynamic":[190],"combined":[192],"speech":[194],"significantly":[195],"improved":[196],"recognition.":[197],"These":[198],"findings":[199],"demonstrate":[200],"feasibility":[202],"highlighting":[212],"current":[213],"limitations":[214],"provides":[222],"promising":[224],"basis":[225],"emotionally":[227],"patient":[229],"simulation":[230],"applications":[233],"mental":[235],"healthcare.":[236]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2026-03-25T00:00:00"}