**3.6. Speech**

**3.4. Fingerprint**

86 Human-Robot Interaction - Theory and Application

2000, 2002, and 2004.

**Figure 5.** A typical minutiae feature extraction algorithm [9].

**3.5. Ear**

The modern history of fingerprint identification begins in the 19th century with the development of identification bureaus charged with keeping accurate records about indexed individuals. The acquisition of fingerprint was performed firstly by using ink technique [7].

The main application of fingerprint identification is forensic investigation of crimes. John Maloy performed a forensic identification in the late 1850s [8] by designing a high-security

• The pattern of fingerprint is unique to each individual and immutable throughout life from

• The existence of large legacy databases such as National Institute of Standards and Technology (NIST), Fingerprint Verification Competition (FVC) evaluation databases from

A typical fingerprint feature called minutiae is extracted from fingerprint images, as shown in

Recognizing people by their ear has recently received significant attention in the literature. There are many factors that made ear a widely used biometrics. First, the shape of the ear and the structure of cartilaginous tissue of the pinna are very discriminate. It is formed by the outer helix, the antihelix, the lobe, the tragus, the antitragus, and the concha. The ear recognition approaches are based on matching the distance of salient points on the pinna from a landmark location. Second, ear has a structure which does not vary with facial expressions or time, and it is very stable for the end of life. It has been shown

• Its success in various applications in the forensics, government, and civilian domains,

identification system that has always been the main goal in the security business.

The main reasons for the popularity of fingerprint recognition are as follows:

infancy to old age and the patterns of no two hands resemble each other,

• The availability of compact and relatively inexpensive fingerprint readers.

**Figure 5**, and used for matching process for a fingerprint recognition system.

• The fact that criminals often leave their fingerprints at crime scenes,

The activities of automatic speaker verification and identification have a long history going back to the early 1960s [12]. Dragon systems were the early applications that were used as speech recognizer [13], which focused on the ability of recognition system to provide acoustic knowledge about speaker. Baum-Welch HMM procedures were employed by these systems to train models.

Speech or voice is one of the behavioral traits that can be used in biometric systems to identify the user based on the stored voice in the enrollment phase, where the voice characteristics such as pronunciation style and voice texture are unique and distinctive for each person. On the other hand, voice can also be considered physiological in addition to behavioral feature based on the shape of the vocal track.
