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Head & Face
The expressive head and face are designed by
Xitome Design with MIT. The neck mechanism has 4 DoFs to support a lower bending at the base of the neck as well as pan-tilt-yaw of the head. The head can move at human-like speeds to support human head gestures such as nodding, shaking, and orienting.

The 15 DoF face has several facial features to support a diverse range of facial expressions including gaze, eyebrows, eyelids and an articulate mandible for expressive posturing. Perceptual inputs include a color CCD camera in each eye, an indoor Active 3D IR camera in the head, four microphones to support sound localization, a wearable microphone for speech. A speaker supports speech synthesis.
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