A Dual Mode Human-Robot Teleoperation Interface Based on Airflow in the Aural Cavity
A Dual Mode Human-Robot Teleoperation Interface Based on Airflow in the Aural Cavity
复制标题
基于耳腔气流的双模式人机遥控界面
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
Dong Lin
中科院分区：
文献类型：
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作者：
R. Vaidyanathan;M. Fargues;R. S. Kurcan;L. Gupta;Srinivas Kota;R. Quinn;Dong Lin
机器人遥操作系统由于需要操作者运动、缺乏可移植性和单一输入方式的限制而在其实用性方面受到限制。在这篇文章中，一个双模式的机器人遥操作人机界面系统的设计和建设解决所有这些问题。该接口能够响应于舌头移动和/或语音来引导机器人设备，而无需在口腔附近插入任何设备。该接口以人耳作为声学输出设备的独特特性为中心。具体而言，我们提出：（1）作为声音输出装置的人耳道的灵敏度的分析;（2）用于监测耳道中的气流的新传感器的设计;（3）通过监测穿过若干人测试对象的听觉流来识别语音和舌头运动的模式识别程序;以及（4）机器接口系统的概念设计和模拟。我们相信这项工作将为新一代的人机界面系统奠定基础，用于各种机器人应用。
Robot teleoperation systems have been limited in their utility due to the need for operator motion, lack of portability and limitation to singular input modalities. In this article, the design and construction of a dual-mode human—machine interface system for robot teleoperation addressing all these issues is presented. The interface is capable of directing robotic devices in response to tongue movement and/or speech without insertion of any device in the vicinity of the oral cavity. The interface is centered on the unique properties of the human ear as an acoustic output device. Specifically, we present: (1) an analysis of the sensitivity of human ear canals as acoustic output device; (2) the design of a new sensor for monitoring airflow in the aural canal; (3) pattern recognition procedures for recognition of both speech and tongue movement by monitoring aural flow across several human test subjects; and (4) a conceptual design and simulation of the machine interface system. We believe this work will lay the foundation for a new generation of human machine interface systems for all manner of robotic applications.