YSU-Ⅱ下肢康复机器人智能交互系统的设计与实现  

Design and implementation of YSU-Ⅱ lower limb rehabilitation robot intelligent interactive system

作　　者：仲美玉 赵逢达[1,2] 窦燕 袁丽[1,2] 贾冀状 舒世洋 王荣雪 Zhong Meiyu;Zhao Fengda;Dou Yan;Yuan Li;Jia Jizhuang;Shu Shiyang;Wang Rongxue(College of Information Science and Engineering,Yanshan University,Qinhuangdao 066004;The Key Laboratory for Computer Virtual Technology and System Integation of Hebei Province,Qinhuangdao 066004)

机构地区：[1]燕山大学信息科学与工程学院,秦皇岛066004 [2]河北省计算机虚拟技术与系统集成重点实验室,秦皇岛066004

出　　处：《高技术通讯》2020年第9期959-966,共8页Chinese High Technology Letters

基　　金：国家科技重大专项(2017ZX05019001-011);河北省自然科学基金青年科学基金(F2018203390)资助项目。

摘　　要：传统人机交互方式如鼠标、键盘、屏幕点触式已广泛应用于康复机器人系统,其存在按键繁多、操作复杂等问题。针对YSU-I坐卧式多关节下肢康复机器人设计了YSU-II智能交互系统。该系统以语音交互为主,用户可通过多控制参数语音指令设置康复任务。此外,为该系统设计了表单输入功能作为辅助输入方式,提高了系统的实用性。本文先给出YSU-II智能交互系统结构和交互指令。然后,分别概括分析相关语音技术和表单识别方法的实现步骤。实验结果表明,YSU-II智能交互系统对语音和表单均有较高的识别率,系统响应时间满足用户的使用需求,用户可通过该系统准确设定康复任务。该系统降低了用户对下肢康复机器人的使用门槛和用户学习时间,满足了与康复机器人智能交互的需求。Traditional human-computer interaction(HCI)methods using a mouse,keyboard,and touchscreen have been widely used in rehabilitation robot systems,which encounter many problems such as numerous buttons and complicated operations.Hence,the YSU-II intelligent interactive system is designed for the YSU-I sitting/lying lower limb rehabilitation robot.Specifically,the system not only focuses on speech interaction,while the lower limb rehabilitation robot’s task can be set by multiple control parameter speech commands,but also focuses on text recognition to improve the system practicality.The combination of speech interaction and text recognition is described as follows.Firstly,this paper presents the structure and interactive instructions of the YSU-II intelligent interactive system.Secondly,the implementation steps of the relevant speech technology and text recognition method are separately summarized.The experimental results show that the rehabilitation task can be set through the YSU-II intelligent interactive system,which has a high recognition rate for both voice and text,while system response time can meet user needs.Also,the system can reduce the use threshold and learning time of the lower limb rehabilitation robot,which meets the need for intelligent interaction with rehabilitation robots.

关 键 词：康复机器人 人机交互(HCI) 语音交互 语音指令 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]