Abstract Assisting aged population or a population with disabilities is a critical problem in today’s world. To compensate for their declined motor function, power-assist wearable robots have been proposed. In some cases, however, the cognitive function of these populations may have declined as well, and it may be insufficient to compensate only for their motor function deficiency. Perception-assist wearable robots, which can perceive environmental information using visual sensors attached to them, have been proposed to address this problem. This study addresses the problem of identifying motion intentions of the user of an upper-limb power-assist wearable robot, while the user engages in desired interactions with others. It is important to consider both the interacting parties in order to accurately predict proper interaction. Therefore, this paper presents an interaction recognition methodology by combining both the user’s motion intention and the other party’s motion intention with environmental information. A fuzzy reasoning model is proposed to semantically combine the motion intentions of both parties and environmental information. In this method, the motion intentions of both the user and the other party are simultaneously estimated using kinematic information and visual information, respectively, and they are employed for predicting the interactions between both parties. The effectiveness of the proposed approach is experimentally evaluated.

中文翻译：

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上肢助力机器人用户与他人交互感知辅助的实时检测

摘要 帮助老年人或残疾人是当今世界的一个关键问题。为了弥补他们的运动功能下降，已经提出了动力辅助可穿戴机器人。然而，在某些情况下，这些人群的认知功能也可能下降，仅补偿他们的运动功能缺陷可能是不够的。感知辅助可穿戴机器人可以使用连接到它们的视觉传感器感知环境信息，已经被提出来解决这个问题。这项研究解决了识别上肢动力辅助可穿戴机器人用户的运动意图的问题，同时用户与他人进行所需的交互。为了准确预测正确的交互，考虑交互双方是很重要的。所以，本文提出了一种将用户的动作意图和对方的动作意图与环境信息相结合的交互识别方法。提出了一种模糊推理模型，将双方的运动意图和环境信息语义结合起来。在该方法中，用户和对方的运动意图分别使用运动学信息和视觉信息同时估计，并用于预测双方之间的交互。通过实验评估所提出方法的有效性。提出了一种模糊推理模型，将双方的运动意图和环境信息语义结合起来。在该方法中，用户和对方的运动意图分别使用运动学信息和视觉信息同时估计，并用于预测双方之间的交互。通过实验评估所提出方法的有效性。提出了一种模糊推理模型，将双方的运动意图和环境信息语义结合起来。在该方法中，用户和对方的运动意图分别使用运动学信息和视觉信息同时估计，并用于预测双方之间的交互。通过实验评估所提出方法的有效性。