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Han Y, Zhang X, Zhang N, Meng S, Liu T, Wang S, Pan M, Zhang X, Yi J. Hybrid Target Selections by "Hand Gestures + Facial Expression" for a Rehabilitation Robot. SENSORS (BASEL, SWITZERLAND) 2022; 23:237. [PMID: 36616835 PMCID: PMC9824727 DOI: 10.3390/s23010237] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/18/2022] [Revised: 12/21/2022] [Accepted: 12/22/2022] [Indexed: 06/17/2023]
Abstract
In this study we propose a "hand gesture + face expression" human machine interaction technique, and apply this technique to bedridden rehabilitation robot. "Hand gesture + Facial expression" interactive technology combines the input mode of gesture and facial expression perception. It involves seven basic facial expressions that can be used to determine a target selecting task, while hand gestures are used to control a cursor's location. A controlled experiment was designed and conducted to evaluate the effectiveness of the proposed hybrid technology. A series of target selecting tasks with different target widths and layouts were designed to examine the recognition accuracy of hybrid control gestures. An interactive experiment applied to a rehabilitation robot is designed to verify the feasibility of this interactive technology applied to rehabilitation robots. The experimental results show that the "hand + facial expression" interactive gesture has strong robustness, which can provide a novel guideline for designing applications in VR interfaces, and it can be applied to the rehabilitation robots.
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Affiliation(s)
- Yi Han
- The State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
- Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, 185 Miyanokuchi, Tosayamada-Cho, Kochi 782-8502, Japan
| | - Xiangliang Zhang
- The State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Ning Zhang
- Key Laboratory of Rehabilitation Technical Aids Technology and System of the Ministry of Civil Affairs, National Research Center for Rehabilitation Technical Aids, Beijing 100176, China
| | - Shuguang Meng
- Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650000, China
| | - Tao Liu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Shuoyu Wang
- Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, 185 Miyanokuchi, Tosayamada-Cho, Kochi 782-8502, Japan
| | - Min Pan
- Department of Mechanical Engineering, University of Bath, Bath BA2 7AY, UK
| | - Xiufeng Zhang
- Key Laboratory of Rehabilitation Technical Aids Technology and System of the Ministry of Civil Affairs, National Research Center for Rehabilitation Technical Aids, Beijing 100176, China
| | - Jingang Yi
- Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ 08854, USA
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