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Blend of soft computing techniques for effective human-machine interaction in service robotic systems

机译：融合软计算技术，可在服务机器人系统中实现有效的人机交互

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摘要

Service robotic systems are exemplary human-in-the-loop systems in which various forms of interaction between human and the robotic system take place frequently. Due to variability of the user's physical motion and uncertainty of the environment, however, it is usually difficult to model the "interaction" and find appropriate interfaces to handle it. Recently, several soft computing techniques are applied to service robotic systems synergistically for comfortable interaction and safe operation. As a testbed, a new wheelchair-based robotic system is considered in this paper and various interaction/interface technologies are studied. Soft computing techniques are applied for recognizing facial emotional expression, for coordinating bio-signals with robotic motions, and for selecting a suitable image mapping in vision-based control. For demonstration, several experimental results and experiences are presented.
机译：服务机器人系统是示例性的人在环系统，其中人与机器人系统之间的各种形式的交互频繁发生。但是，由于用户身体运动的可变性和环境的不确定性，通常很难对“交互”进行建模并找到合适的接口来处理它。近来，为了舒适的交互和安全的操作，几种软计算技术被协同地应用于服务机器人系统。作为测试平台，本文考虑了一种新的基于轮椅的机器人系统，并研究了各种交互/界面技术。软计算技术被应用于识别面部表情，将生物信号与机器人动作进行协调以及在基于视觉的控制中选择合适的图像映射。为了演示，介绍了一些实验结果和经验。

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