Effective intention reading technique as a means of human-robot interaction for human centered systems

摘要

Human-robot interaction technologies are very important components in the human centered system. Among many human-robot interaction technologies, the intention reading of a user plays an important role in human centered systems. In the paper, we focus on the use of intention reading in rehabilitation robots, and implement its capability for the wheelchair-based robotic arm system, called KARES (KAIST Rehabilitation Engineering Service System) II. For effective intention reading, visual servoing by using an image sequence of user's face or control by using EMG signals of user's arm are applied to KARES II. Specially, it is shown that soft computing techniques are very effective for intention reading.