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

被引:7
作者
Bien, ZN
Song, WK
机构
[1] Korea Adv Inst Sci & Technol, Dept Elect Engn & Comp Sci, Yusong Gu, Taejon 305701, South Korea
[2] Samsung SDI Co Ltd, Paldal Gu, Suwon 442391, South Korea
关键词
soft computing; human-robot interaction; service robot; rehabilitation robot; facial emotional expression; EMG; visual servoing;
D O I
10.1016/S0165-0114(02)00227-0
中图分类号
TP301 [理论、方法];
学科分类号
081202 [计算机软件与理论];
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. (C) 2002 Elsevier Science B.V. All rights reserved.
引用
收藏
页码:5 / 25
页数:21
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