Design a Sensorless Interactive Robot System with Force Contact for Autistic Children

• Main Authors: Huang, Ssu-Han, 黃思翰
• Other Authors: Hsu, Pau-Lo
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/11025019055168408578

碩士 === 國立交通大學 === 電控工程研究所 === 100 === Autism is a complex symptom in which behavior and cognitive disorder cause the issue cause and 0.2% children present such symptom. Three problems are observed mainly for autistic children as: social interaction, communication, and imagination. In this thesis, the humanoid robot and the chain-type robot is combined to develop the human-robot interactive education system with force contact. This system has been proven to effectively improve interaction and emotional expression for autistic children. In this Thesis, a sensorless technique for the robot to detect the external force is developed by analyzing the current of motors in the robot. The structure of pattern recognition system with multi-classifiers is proposed and the motor current of sixteen motors will be mapped to four two-dimensional planes by the independence of two limbs and two arms through analysis of the kinetic motion and linear discriminant analysis (LDA). Four sub-classifiers are also adopted to predict forced events by analyzing feature vector on each plane with an ellipse boundary. The combination of four sub-classifiers is obtained by applying expert analysis for simplifying the forced event and adjusting the decision weight. Compared the proposed method with the support vector machine (SVM), experimental results indicate that the recognition rate can be improved from 75.9% to 93.6%. Furthermore, both non-contact (remote) and contact interaction approaches have been applied to an autistic child with both quantitative and qualitative analyses. Results indicate that the proposed contact interaction system renders much better improvement in interaction and emotional expression for the child.