Emotion Recognition Of Autonomous HRI For Robot-assisted Intervention With Autism

With the development of robot technology and artificial intelligence research, the application of service robots in daily life is becoming more and more diversified. In this paper, service robots are applied into the field of assisted intervention with autism. Autism is a kind of pervasive developmental disorder characterized in impaired social interaction and impaired language communication, which has not yet appeared on medicine effective treatment and is to give priority to education and training at present. Researchers introduce robots in the assisted intervention of autism, which has obtained certain achievements. However, human-dominated HRI scheme needs too high professional requirements to apply on a large scale. Therefore, the purpose of this paper is to improve the robot's autonomy, reduce the professional requirements to the employees, and improve the efficiency of assisted intervention, which has extensive social and economic benefits. Based on above all, the research contents of this paper are mainly as follows.First of all, the framework design of autonomous human-robot interaction for children with autism has been carried out. Through in-depth research for autism cognitive theories, the main characteristics such as social barriers and language barriers as well as repeat stereotyped behaviors of children with autism have been analyzed;Through the demand analysis of service robots applied in autism auxiliary medical service, the roles and functions of medical robot has been determined; as well as performance requirements; Based on the E-S theory and existing human-robot interaction design concept,autonomous human-computer interaction framework has been designed.Secondly, cognitive modeling for the emotions expression characteristics of children with autism has been accomplished. Through the Gabor feature extraction and flexible template matching algorithm,facial expression recognition system has been designed and realized;The characteristics of emotional expression and emotional incentive of autistic children has been analyzed and summarized; Expression -emotional mapping model of emotions expressing characteristics for children with autism has been preliminary set up; Though fusion robot and autonomous interaction characteristics of children with autism,emotional cognitive model for autistic children has been built.At last, system design and experimental research of autonomous human-computer interaction based on emotion cognition have been accomplished. Though analysis and summaries of the general flow of interaction task design, combined with the characteristics of children with autism and social intervention training target, joint attention stage task human-computer interaction design; Simulation platform based on Webots mobile robot visual simulation and analysis of human-computer interaction tasks; Based on humanoid robot NAO platform for human-computer interaction in physical experiment and analysis, so as to verify the autonomy of human-computer interaction based on emotion recognition and feasibility.