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， 在操纵物体方面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，在这方面， 残疾儿童在游戏活动期间被激励使用机器人系统来操纵物品。一 当前机器人系统的局限性在于儿童不能感觉到机器人正在触摸什么。没有这种触觉 反馈阻止儿童感知物体的属性。此外，机器人要么控制所有的任务，所以孩子 孩子只是一个观察者，或者根本不是任务的一部分，但孩子可能还没有能力独立完成任务。对机器人来说， 系统来了解随着孩子技能的发展需要提供多少指导。我们建议使用触觉和自适应 指导方针。它将允许两个用户，一个残疾儿童和一个成年伙伴，合作控制一个机器人， 两个触觉接口。我们将自适应地改变控制量从一个用户或其他通过使用实时人工 智能这样，随着孩子理解力的提高，他/她就可以完成更多的任务。并最终扭转了中国 系统将学习如何帮助孩子，从而不需要第二用户。在开发了必要的接口和 软件，我们将做研究，看看该系统是否使儿童如何执行任务的差异。我们将比较何时 孩子们用典型的机器人做任务，用我们的触觉分级和自适应指导方法做任务。我们将 比较完成任务和行为动作所需的时间和准确性。在项目结束时，残疾儿童 将有机会获得机器人系统，以帮助他们探索他们的环境，并有丰富的学习经验。

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.