服务机器人多通道人机交互感知反馈工作机制及关键技术
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摘要
随着老龄化人口数量的增加和护理成本的提高,用于照顾老年人、残疾人的护理服务机器人和康复机器人已经受到许多研究人员的重视。为了实现服务机器人与用户自然和谐的交流,在服务机器人的诸多关键技术中,信息感知反馈和与人的交互能力就尤为重要。当前的服务机器人信息感知和人机交互能力还比较初步,有待于进一步的提高和完善。
本文针对老年人、残疾人等用户与服务机器人交互的特点,系统地研究了人机间信息感知和反馈机制,以及多通道人机交互方法,实现了一种具有多种信息感知与反馈功能的多通道自然人机交互系统。
文中首先研究了“视觉-眼动”、“语音-听觉”、机械接触式通道等自然的人机交互效应通道,提出了几种效应通道主-辅协作的工作模式。通过几种效应通道的协作,减少了单个通道的工作负担,提高了交互的可靠性和工作效率。为了提高“视觉-眼动”交互通道对环境光照和用户头部位置变化的适应性。建立了一种适应环境光照变化的图像采集系统和图像二值化的阈值模型,并提出一种对用户头部位置变化影响的补偿策略和控制方法,改善了系统对用户头部位置变化的适应性。
提出了一种基于Agent的自然和谐人机交互体系框架,建立了人机交互的用户模型与人机交互协议,根据人机交互协议的格式提出一种任务生命周期管理的任务进行管理方法,并用基于框架(Frame)的信息融合方法对不同交互通道表达的交互信息进行了语义层的交互语义融合。对以“人-界面-机器(人)”为基础的用户临场感进行了研究,提出一种多模式信息感知与反馈的体系和对多种通道反馈的交互语义信息进行融合的方法,增强了用户对系统反馈信息的感知和人机交互的自然和谐性。
在建立的服务机器人与用户构成的“人—界面—机器(人)”实验系统中,用认知心理学的试验方法对人机交互界面进行实验研究,确定了适合不同用户(老年人、残疾人等)个性特点的人机交互界面;用人机工效试验方法对几种人机交互效应通道工效参数、以及工作模式作了实验研究,确定了几种效应通道工效参数的范围,验证了多种自然效应通道协作交互方法的有效性。
With the increase of the elderly population and the growing health care cost, the role of service robot in aiding the disabled and elderly is becoming important, and many researchers in the world have paid much attention to the healthcare robot and rehabilitation robot. To get natural and harmonious communication between user and service robot, the information perception and feedback ability, and interaction ability for service robots become more important in many key issues, but currently these capabilities of service robots are in preliminary level, therefore, there is much work to be done to improve the performance of service robots.
Considering the characteristics of service robots to interact with the elderly and disabled, we systematically researched the information perception and feedback mechanism, and multi-modality human-robot interaction approaches, and then set up a multi-modality and human-robot natural interaction system which has multiple information perception and feedback functions.
In the dissertation, we firstly had a research on some natural response modalities, such as eye-gaze input, speech recognition and syntheses, and mechanical touch modality, and presented the main-sub modality collaborative work mode for these response modalities, by this collaborative method, the work load of single modality has been decreased, and the work efficiency and interaction robust for these modalities have been improved. In order to improve the adaptation of eye-gaze input modality to environment illumination, a set of image capturing equipment and image binary threshold model have been put forward, and some strategies and control methods have been presented to decrease the influences on the system caused by users head movement, by these means, the adaptation of the system to environment illumination and users head movement have been improved.
To get natural and harmonious interaction, a kind of human-robot interaction architecture based on agent has been proposed, and the user model and interaction protocol in this architecture have been presented. According to the format of the interaction protocol, a set of task process management method has been put up in the light of task lifecycle, and then at the semantic decision–level, the frame-based information fusion approaches has been applied to integrate the interactive semantics from different interaction modalities. Some work on user telepresence in the“Human-Interface-Machine(Robot)”architecture, has been carried out, and a kind of information perception and feedback method by multiple modes has been presented, all these have increased the naturalness for user to get feedback information and interact with service robots.
Finally, in the“Human-Interface-Machine(Robot)”system formed by service robot and user, some experiments about interface have been done with the cognitive psychology test method, by this way, a kind of adaptive interface catering to the elderly and disabled users personal characteristics can be gotten, and some other experiments have been carried out with ergonomics test method to get the working parameters range of some response modalities, moreover, this method has been used
本文针对老年人、残疾人等用户与服务机器人交互的特点,系统地研究了人机间信息感知和反馈机制,以及多通道人机交互方法,实现了一种具有多种信息感知与反馈功能的多通道自然人机交互系统。
文中首先研究了“视觉-眼动”、“语音-听觉”、机械接触式通道等自然的人机交互效应通道,提出了几种效应通道主-辅协作的工作模式。通过几种效应通道的协作,减少了单个通道的工作负担,提高了交互的可靠性和工作效率。为了提高“视觉-眼动”交互通道对环境光照和用户头部位置变化的适应性。建立了一种适应环境光照变化的图像采集系统和图像二值化的阈值模型,并提出一种对用户头部位置变化影响的补偿策略和控制方法,改善了系统对用户头部位置变化的适应性。
提出了一种基于Agent的自然和谐人机交互体系框架,建立了人机交互的用户模型与人机交互协议,根据人机交互协议的格式提出一种任务生命周期管理的任务进行管理方法,并用基于框架(Frame)的信息融合方法对不同交互通道表达的交互信息进行了语义层的交互语义融合。对以“人-界面-机器(人)”为基础的用户临场感进行了研究,提出一种多模式信息感知与反馈的体系和对多种通道反馈的交互语义信息进行融合的方法,增强了用户对系统反馈信息的感知和人机交互的自然和谐性。
在建立的服务机器人与用户构成的“人—界面—机器(人)”实验系统中,用认知心理学的试验方法对人机交互界面进行实验研究,确定了适合不同用户(老年人、残疾人等)个性特点的人机交互界面;用人机工效试验方法对几种人机交互效应通道工效参数、以及工作模式作了实验研究,确定了几种效应通道工效参数的范围,验证了多种自然效应通道协作交互方法的有效性。
With the increase of the elderly population and the growing health care cost, the role of service robot in aiding the disabled and elderly is becoming important, and many researchers in the world have paid much attention to the healthcare robot and rehabilitation robot. To get natural and harmonious communication between user and service robot, the information perception and feedback ability, and interaction ability for service robots become more important in many key issues, but currently these capabilities of service robots are in preliminary level, therefore, there is much work to be done to improve the performance of service robots.
Considering the characteristics of service robots to interact with the elderly and disabled, we systematically researched the information perception and feedback mechanism, and multi-modality human-robot interaction approaches, and then set up a multi-modality and human-robot natural interaction system which has multiple information perception and feedback functions.
In the dissertation, we firstly had a research on some natural response modalities, such as eye-gaze input, speech recognition and syntheses, and mechanical touch modality, and presented the main-sub modality collaborative work mode for these response modalities, by this collaborative method, the work load of single modality has been decreased, and the work efficiency and interaction robust for these modalities have been improved. In order to improve the adaptation of eye-gaze input modality to environment illumination, a set of image capturing equipment and image binary threshold model have been put forward, and some strategies and control methods have been presented to decrease the influences on the system caused by users head movement, by these means, the adaptation of the system to environment illumination and users head movement have been improved.
To get natural and harmonious interaction, a kind of human-robot interaction architecture based on agent has been proposed, and the user model and interaction protocol in this architecture have been presented. According to the format of the interaction protocol, a set of task process management method has been put up in the light of task lifecycle, and then at the semantic decision–level, the frame-based information fusion approaches has been applied to integrate the interactive semantics from different interaction modalities. Some work on user telepresence in the“Human-Interface-Machine(Robot)”architecture, has been carried out, and a kind of information perception and feedback method by multiple modes has been presented, all these have increased the naturalness for user to get feedback information and interact with service robots.
Finally, in the“Human-Interface-Machine(Robot)”system formed by service robot and user, some experiments about interface have been done with the cognitive psychology test method, by this way, a kind of adaptive interface catering to the elderly and disabled users personal characteristics can be gotten, and some other experiments have been carried out with ergonomics test method to get the working parameters range of some response modalities, moreover, this method has been used
引文
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