Inhalt

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   Declaration of Authorship
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   Abstract
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   Table of Contents
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   List of Figures
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   List of Tables
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   I Research Topic and Related Work
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   1 Introduction
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   1.1 Motivation
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   1.2 Contribution
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   1.3 Structure
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   2 The Human Eye
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   2.1 Morphology
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   2.2 Visual Properties
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   2.3 Kinematics
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   2.4 Oculomotor Range
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   2.5 Degrees of Freedom
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  2.6 Motion Patterns
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   2.6.1 The Vestibular and Optokinetic System
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   2.6.2 Smooth Pursuit
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   2.6.3 Eye Saccades
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   2.6.4 Vergence
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   2.7 Eye-Neck Coordination
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   2.8 Eyelids
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   2.9 Discussion
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  3 Requirement Analysis
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   3.1 Appealing Design
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   3.2 Camera
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   3.3 Human Motion
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   3.4 Technical Requirements
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   3.5 Discussion
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   4 Robotic Heads in Literature
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   4.1 Life-like Robotic Heads
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   4.2 Mechanical Robotic Heads
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   4.3 Display-Based Robotic Heads
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   4.4 Comic-Style Robotic Heads
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   4.5 Discussion
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  5 Reproduction of Human Motion
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   5.1 Motion Capture
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   5.2 Tele-Operation
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   5.3 Motion Transfer and Replication
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   5.4 Discussion
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   II Realization
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   6 The Initial Flobi Design
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   7 The Tendon Prototype
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   7.1 Mechanical Design
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   7.2 Sensors and Electronics
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   7.3 Manufacturing and Costs
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   7.4 Discussion
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  8 The Floka Prototype
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   8.1 Mechanical Design
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   8.2 Sensors and Electronics
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   8.3 Discussion
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   9 From Humans to Robots
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   9.1 Concept
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  9.2 System Design
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   9.2.1 Feedback System
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   9.2.2 Tracking Hardware
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   9.2.3 Structural Design
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  9.3 Software Stack
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   9.3.1 Scene Feedback
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   9.3.2 Tracking Gaze, Head, and Facial Expressions
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  9.4 Evaluation
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   9.4.1 Camera Latency
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   9.4.2 Projector Latency
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   9.4.3 Camera-Projector Latency
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   9.4.4 Robot Latency
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   9.5 Discussion
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   10 Motion Control
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   10.1 Control Electronics
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   10.2 Low-Level Control Loop
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   10.3 Communication
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   10.4 Joint-Level Motion Control
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   10.5 Simulation
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   10.6 Human Motion Replication
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   10.6.1 Control Model
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   10.6.2 Trajectory Generation
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   10.6.3 Configurability
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   10.6.4 Portability
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   10.7 High Level Robot Control
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   10.8 Discussion
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   III Evaluation
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   11 Software Evaluation Study
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  11.1 Study Design and Execution
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   11.1.1 Introduction and Basic Data
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   11.1.2 Appreciation of Different Motion Properties
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   11.1.3 The Robot's Intention
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   11.1.4 Popularity
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   11.1.5 Importance of Properties
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  11.2 Evaluation of the Results
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   11.2.1 Appreciation of Different Motion Properties
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   11.2.2 The Robot's Intention
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   11.2.3 Popularity
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   11.2.4 Importance of Properties
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   11.3 Discussion
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  12 Hardware Analysis
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   12.1 Range of Motion
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   12.2 Mutual Axis Dependence
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   12.3 Velocity and Acceleration
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   12.4 Gearbox Backlash
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   12.5 Unconstrained Eye Torsion
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   12.6 Discussion
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   IV Discussion
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   13 Conclusion
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   14 Outlook
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   V Appendices
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   Supplementary Userstudy Material
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   Bibliography