基于情绪感知的机器人辅助主动康复训练任务控制方法

doi:10.13973/j.cnki.robot.170546

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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. ROBOT, 2018, 40(4): 466-473. DOI: 10.13973/j.cnki.robot.170546.

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WAM^{m 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.

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关键词 ：康复机器人, 情绪感知, 主动康复, 支持向量机

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) WAM^TM rehabilitation manipulator of Barrett Inc., and 12 stroke subjects are recruited to verify the effectiveness of the proposed method.

Key words： rehabilitation robot emotion perception active rehabilitation support vector machine

收稿日期: 2017-09-18 录用日期: 2018-03-15

TP242

基金资助:国家自然科学基金（61673114，61305095）；江苏省重点研发计划（BE2015701）；江苏省卫生计生委信息化项目（X201603）；江苏省自然科学基金（BK20141426，BK20170898）；江苏省"青蓝工程"项目（QL00516014）；江苏高校境外研修计划

通讯作者: 徐国政,xgznjupt@gmail.com E-mail: xgznjupt@gmail.com

作者简介: 徐国政(1979-),男,博士,副教授,硕士生导师.研究领域:康复机器人,助老助残移动服务机器人.
宋爱国(1968-),男,博士,教授,博士生导师.研究领域:机器人传感与控制技术.
高翔(1967-),女,博士,教授,硕士生导师.研究领域:机器人传感与网络化控制技术.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.170546 或 https://robot.sia.cn/CN/Y2018/V40/I4/466

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