Energetic optimization of an autonomous mobile socially assistive robot for autism spectrum disorder.
Energetic optimization of an autonomous mobile socially assistive robot for autism spectrum disorder.
复制标题
针对自闭症谱系障碍的自主移动社交辅助机器人的能量优化。
DOI：
10.3389/frobt.2022.1053115
复制
发表时间：
2022
影响因子：
3.4
通讯作者：
Salazar, Sergio
中科院分区：
文献类型：
--
作者：
Fuentes-Alvarez, Ruben;Morfin-Santana, Alejandro;Ibanez, Karlo;Chairez, Isaac;Salazar, Sergio
近年来，社交辅助机器人在自闭症治疗中的使用有所增加。这种新的治疗工具允许专家跟踪自闭症儿童的社会辅助任务的改善，他们假设更喜欢基于对象的人际互动。这些工具还可以收集新的信息，以早期诊断神经发育障碍。本文提出了一种基于事件驱动的自适应控制策略，将输出反馈自适应控制器集成于自闭症谱系障碍移动的社交辅助机器人的轨迹跟踪和能量自主控制中。所提出的实现集成了面部表情和情感识别算法来检测用户的情感和身份（为算法提供鲁棒性，因为它自动生成缺失的输入参数，这允许它完成识别），以引爆一组足够的轨迹。提出的社会辅助机器人的算法实现，并在基于Linux的机器人操作系统中实现。据认为，该提案的能量消耗的优化是这项工作的主要贡献，因为它将允许治疗师延长和适应自闭症儿童的会议。实验验证了所提出的集成的事件驱动的控制方案的能量优化。
The usage of socially assistive robots for autism therapies has increased in recent years. This novel therapeutic tool allows the specialist to keep track of the improvement in socially assistive tasks for autistic children, who hypothetically prefer object-based over human interactions. These kinds of tools also allow the collection of new information to early diagnose neurodevelopment disabilities. This work presents the integration of an output feedback adaptive controller for trajectory tracking and energetic autonomy of a mobile socially assistive robot for autism spectrum disorder under an event-driven control scheme. The proposed implementation integrates facial expression and emotion recognition algorithms to detect the emotions and identities of users (providing robustness to the algorithm since it automatically generates the missing input parameters, which allows it to complete the recognition) to detonate a set of adequate trajectories. The algorithmic implementation for the proposed socially assistive robot is presented and implemented in the Linux-based Robot Operating System. It is considered that the optimization of energetic consumption of the proposal is the main contribution of this work, as it will allow therapists to extend and adapt sessions with autistic children. The experiment that validates the energetic optimization of the proposed integration of an event-driven control scheme is presented.