论文标题
直观序列匹配的算法应用于机器人辅助设备的sip and-puff控制界面
Intuitive sequence matching algorithm applied to a sip-and-puff control interface for robotic assistive devices
论文作者
论文摘要
本文介绍了基于序列匹配算法的控制接口的开发和初步验证。辅助技术领域的一个重要挑战是用户控制具有低维度控制接口的高维度设备（例如，具有多个自由度或计算机的辅助机器人）（例如，几个开关）。序列匹配在于与预定义的模式库相比，从传感器信号获得的模式识别。目的是允许用户输入具有较低维度接口的几个不同命令（例如，允许使用单个开关输入几个字母的摩尔斯代码）。在本文中，该算法用于控制辅助机器人臂的上下文，并已改编成sip和puff界面，可以检测到短和长爆发。与经典的Sip and-Puff界面相比，具有8个健康受试者的初步验证表明，序列匹配使控制速度更快，更容易，更舒适。本文是一种概念证明，它导致通往更先进的算法以及更通用的传感器（例如惯性测量单元（IMU））的使用。
This paper presents the development and preliminary validation of a control interface based on a sequence matching algorithm. An important challenge in the field of assistive technology is for users to control high dimensionality devices (e.g., assistive robot with several degrees of freedom, or computer) with low dimensionality control interfaces (e.g., a few switches). Sequence matching consists in the recognition of a pattern obtained from a sensor's signal compared to a predefined pattern library. The objective is to allow the user to input several different commands with a low dimensionality interface (e.g., Morse code allowing inputting several letters with a single switch). In this paper, the algorithm is used in the context of the control of an assistive robotic arm and has been adapted to a sip-and-puff interface where short and long bursts can be detected. Compared to a classic sip-and-puff interface, a preliminary validation with 8 healthy subjects has shown that sequence matching makes the control faster, easier and more comfortable. This paper is a proof of concept that leads the way towards a more advanced algorithm and the usage of more versatile sensors such as inertial measurement units (IMU).
