徐国政, 宋爱国, 高翔, 陈盛, 徐宝国. 基于情绪感知的机器人辅助主动康复训练任务控制方法[J]. 机器人, 2018, 40(4): 466-473. DOI: 10.13973/j.cnki.robot.170546
引用本文: 徐国政, 宋爱国, 高翔, 陈盛, 徐宝国. 基于情绪感知的机器人辅助主动康复训练任务控制方法[J]. 机器人, 2018, 40(4): 466-473. DOI: 10.13973/j.cnki.robot.170546
XU Guozheng, SONG Aiguo, GAO Xiang, CHEN Sheng, XU Baoguo. Control Method for Robot-aided Active RehabilitationTraining Tasks Based on Emotion Perception[J]. ROBOT, 2018, 40(4): 466-473. DOI: 10.13973/j.cnki.robot.170546
Citation: XU Guozheng, SONG Aiguo, GAO Xiang, CHEN Sheng, XU Baoguo. Control Method for Robot-aided Active RehabilitationTraining Tasks Based on Emotion Perception[J]. ROBOT, 2018, 40(4): 466-473. DOI: 10.13973/j.cnki.robot.170546

基于情绪感知的机器人辅助主动康复训练任务控制方法

Control Method for Robot-aided Active RehabilitationTraining Tasks Based on Emotion Perception

  • 摘要: 在现有机器人辅助康复训练过程中,患者与康复机器人之间的交互控制主要以感知患者主动"运动"参与为主,未能考虑患者"心理"层次的主动参与,具有一定的局限.针对此问题,以康复训练过程中患者挫败、兴奋及厌烦为目标情绪状态,提出一种基于情绪感知的机器人辅助主动康复任务控制方法.该方法首先提取机器人辅助主动康复过程中患者目标情绪生理响应及性能数据特征;其次,基于径向基核的支持向量机设计目标情绪分类器,并研究与患者目标情绪变化相一致的机器人辅助康复任务自适应控制方法;最后,运用Barrett公司4自由度WAMm TM康复机器人构建试验系统平台,选取12例临床脑卒中患者,对方法有效性进行试验验证.

     

    Abstract: In the current robot-aided rehabilitation training, there still exist a certain limitations in the interaction control between the patient and the rehabilitation robot, which mainly focuses on the perception of the patients' active motor participation while not taking the patients' active psychological participation into consideration. To solve this problem, a control method for robot-aided active rehabilitation training based on emotion perception is proposed by using frustration, excitement and boredom of patients in rehabilitation training as target emotion states. Firstly, psychological responses of patients to target emotion states in robot-aided active rehabilitation training and their performance features are extracted. Secondly, a target emotion classifier using radial basis function based support vector machine is designed, and an adaptive control method for robot-aided rehabilitation tasks is developed, which can adapt to the target emotion changes of patients. Finally, the experimental system platform is constructed with the 4-DOF (degree of freedom) WAMTM rehabilitation manipulator of Barrett Inc., and 12 stroke subjects are recruited to verify the effectiveness of the proposed method.

     

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