Robotic interface with Haptic Guidance and Artificial Intelligence for People with Disabilities

通过探索环境，儿童发展认知和感知技能。身体残疾的儿童 操纵物体有困难的人可能会错过对其环境进行有意义的探索的机会。然而， 残疾儿童被鼓励在游戏活动中使用机器人系统来操纵物品。一 目前机器人系统的局限性是，孩子们无法感觉到机器人正在触摸的东西。没有这种触觉 反馈会阻止儿童感知物体的属性。此外，机器人或者控制所有的任务，所以孩子 只是一个观察者，或者不是任务的观察者，但孩子可能还没有能力自己做这件事。这对机器人来说更好 系统，以了解随着儿童技能的发展应该提供多少指导。我们建议使用触觉和自适应 引导进场。它将允许两个用户，一个残疾儿童和一个成年伴侣，与 两个触觉接口。我们将通过使用实时人工智能自适应地更改一个用户或另一个用户的控制量 智慧。这样，随着孩子的理解力增强，他/她可以完成更多的任务。并最终成为 系统将学习如何帮助孩子，这样就不需要第二个用户了。在开发了必要的接口和 软件，我们将做研究，看看这个系统是否会对孩子们执行任务的方式产生影响。我们会比较什么时候 孩子们使用典型的机器人完成任务，并使用我们的触觉渐进式和自适应指导方法完成任务。我们会 比较做任务和做行为所需的时间和准确性。在项目结束时，残疾儿童 将可以使用机器人系统来帮助他们探索他们的环境并拥有丰富的学习体验。

Through exploring the environment a child develops cognitive and perceptual skills. Children with physical disabilities who have difficulty manipulating objects may miss opportunities for meaningful exploration of their environment. However, children with disabilities have been motivated to use robotic systems to manipulate items during play activities. One limitation with present robotic systems is that children do not get to feel what the robot is touching. Not having this haptic feedback prevents children from sensing the properties of objects. Also, the robots either controls all of the task, so the child is only an observer, or none of the task, but the child may not be capable of doing it on their own yet. It is better for the robot system to learn how much guidance to provide as the child's skills develop. We propose to use a haptic and adaptive guidance approach. It will allow two users, a child with a disability and an adult partner, to collaboratively control a robot with two haptic interfaces. We will adaptively change the amount of control from one user or the other by using real-time artificial intelligence. This way, as the child increases his/her understanding, he/she can do more of the task. And eventually the system will learn how to help the child so that the second user is not needed. After developing the necessary interface and software we will do studies to see if the system makes a difference to how children perform tasks. We will compare when children do tasks with a typical robot and do tasks with our haptic graduated and adaptive guidance approach. We will compare the time and accuracy it takes to do tasks and behavioral acts. At the end of the project, children with disabilities will have access to a robotic system to help them explore their environments and have a rich learning experience.