To offer simple and convenient assistance for the elderly and disabled, researchers focus on programming by demonstration approach to improve the intelligence and adaptability of wheelchair mounted robotic arm assistive robot. But how to easily and quickly obtain the demonstration information is still an urgent problem to be solved. Based on the systematic analysis of the daily living tasks in need of robot assistance, this paper proposes the key-point-based programming by demonstration recording approach to quickly obtain the demonstration information and develops a specified demonstration interface to simplify the operation process. A corresponding evaluation approach is also proposed from the demonstration trajectories and demonstration process two aspects. Additionally, tasks of “holding water glass task”, “eating task”, and “opening door task” are carried out and experimental results, as well as comparative evaluations confirm the validity of the proposed approach with high efficiency. This study can not only offer a convenient and feasible way to obtain the demonstration information of daily living tasks, but also lay a good foundation for the assistive robot to learn relative motion skills, especially for the demonstrated dexterous manipulation skills, and semi-autonomously accomplish complex, multi-step tasks following the user’s instructions in the daily home environment.

为了向老年人和残疾人提供简单方便的帮助，研究人员致力于通过演示方法进行编程，以提高轮椅机械手辅助机器人的智能性和适应性。但是，如何方便，快捷地获取示范信息仍然是亟待解决的问题。在对需要机器人协助的日常工作进行系统分析的基础上，提出了基于示范点的示范记录方法，以快速获取示范信息，并开发了专门的示范界面，简化了操作流程。从论证轨迹和论证过程两个方面也提出了相应的评价方法。此外，还有“保持水杯任务”，“饮食任务”，并进行了“开门任务”，实验结果以及比较评估证实了该方法的有效性。该研究不仅为获得日常生活任务演示信息提供了方便可行的途径，而且为辅助机器人学习相对运动技能，特别是所展示的灵巧操作技能和半自主完成学习奠定了良好的基础。在日常家庭环境中遵循用户的指示执行复杂的多步骤任务。