Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

最近，由于神经系统疾病，中风或年老而有上臂残疾的人正在接受机器人的协助，以执行诸如剃刮，进食，刷牙和喝水等多种活动。尽管机器人协助的全部潜力在于使用全自动机器人系统，但是由于复杂性和相关风险，这些系统的设计受到限制。因此，代替用于头部周围的此类任务的共享受控或主动机器人系统，提出了一种基于自适应顺应控制方案的用于胡须刮削辅助的自主机器人系统。该系统包括使用Kinect RGB-D相机进行的自主在线面部检测和跟踪，以及基于几何特征的选定胡须区域估计。启用用于完成剃刮任务的在线轨迹规划；能够在意外的头部姿势移动和闭塞的情况下进行在线重新计划轨迹。基于使用ADAMS和MATLAB的UR-10 6自由度机械手的动力学特性，开发了一种自适应力跟踪阻抗控制器，该控制器的参数使用遗传算法（GA）进行了力/转矩约束调节。该控制器可以通过调整控制器的目标刚度来调节头部姿势变化和剃刮区域刚度变化时的接触力。仿真结果表明，该系统具有在各种环境参数下自动剃胡须的功能，可以扩展该参数以实现其他围绕头部的任务，例如进食，饮水和刷牙。基于使用ADAMS和MATLAB的UR-10 6自由度机械手的动力学特性，开发了一种自适应力跟踪阻抗控制器，该控制器的参数使用遗传算法（GA）进行了力/转矩约束调节。该控制器可以通过调整控制器的目标刚度来调节头部姿势变化和剃刮区域刚度变化时的接触力。仿真结果表明，该系统具有在各种环境参数下自动剃胡须的功能，可以扩展该参数以实现其他围绕头部的任务，例如进食，饮水和刷牙。基于使用ADAMS和MATLAB的UR-10 6自由度机械手的动力学特性，开发了一种自适应力跟踪阻抗控制器，该控制器的参数使用遗传算法（GA）进行了力/转矩约束调节。该控制器可以通过调整控制器的目标刚度来调节头部姿势变化和剃刮区域刚度变化时的接触力。仿真结果表明，该系统具有在各种环境参数下自动剃胡须的功能，可以扩展该参数以实现其他围绕头部的任务，例如进食，饮水和刷牙。该控制器可以通过调整控制器的目标刚度来调节头部姿势变化和剃刮区域刚度变化时的接触力。仿真结果表明，该系统具有在各种环境参数下自动剃胡须的功能，可以扩展该参数以实现其他围绕头部的任务，例如进食，饮水和刷牙。该控制器可以通过调整控制器的目标刚度来调节头部姿势变化和剃刮区域刚度变化时的接触力。仿真结果表明，该系统具有在各种环境参数下自动剃胡须的功能，可以扩展该参数以实现其他围绕头部的任务，例如进食，饮水和刷牙。