BLEND OF SOFT COMPUTING TECHNIQUES FOR EFFECTIVE HUMAN-MACHINE INTERACTION/INTERFACE IN SERVICE ROBOTIC SYSTEMS

摘要

Service robotic systems are an exemplary human-in-the-loop system in which some form of interaction between humans and robotic systems take place. Due to variability of the user's physical motion and uncertainty of the environment, "interaction" is usually difficult to model and thus existing interface is often inappropriate. Recently, several soft computing techniques are applied to service robotic systems synergistically for comfortable use and safe operation. As a testbed, a new wheelchair-based robotic system is considered and various interaction/interface technologies are studied. Soft computing techniques are applied for recognizing facial emotional expression and for coordinating bio-signals with robotic motions. For demonstration, several experimental results are presented.