公开(公告)号：KR101343860B1

公开(公告)日：2013-12-20

申请号：KR1020130000646

申请日：2013-01-03

Applicant: 재단법인대구경북과학기술원

Inventor： 김민수 ,  손상혁 ,  김진욱 ,  전강욱 ,  홍인정

IPC: B25J3/00 ,  B25J13/00 ,  H04Q9/00

Abstract: Provided is a robot avatar system equipped with a hybrid interface including a brain computer interface (BCI), a head-mounted display (HMD) or smart glasses, a motion sensor, a position sensor, a microphone, a speaker, a tactile sensor, and a haptic actuator. The robot avatar system of the present invention comprises: an interface including the BCI, the HMD or the smart glasses, the motion sensor, the position sensor, the microphone, the speaker, the tactile sensor, and the haptic actuator; a command server which generates a command to control the behavior of the robot based on BCI information and motion information received therein from the BCI and the motion sensor or the position senor and outputs the voice information of a person received from the microphone through the robot; a BCI-motion learning server which constructs a BCI-motion mapping database and a label determination model used in the command server based on the BCI information and the motion information received therein from the BCI and the motion sensor or the position sensor; and a sensory server which processes audio, video, and tactile information, which are obtained through the robot, and outputs the processed information through the speaker, the HMD or the smart glasses, and the haptic actuator. [Reference numerals] (110) BCI device;(120) HMD/Smart glasses;(130) Vision sensor;(140,620) Microphone;(160) Position sensor;(200) Command server;(400) BCI-motion learning server;(500) Sensory server;(610) Camera;(640) Speaker;(650) Tactile sensor;(AA) Motion command, voice;(BB) BCI data, vision/position data, voice;(CC) Humanoid;(DD) Person;(EE) Raw sensory data;(FF) Processed sensory data

Abstract translation: 提供了一种配备有混合接口的机器人头像系统，包括脑计算机接口（BCI），头戴式显示器（HMD）或智能眼镜，运动传感器，位置传感器，麦克风，扬声器，触觉传感器， 和触觉致动器。 本发明的机器人头像系统包括：包括BCI，HMD或智能眼镜，运动传感器，位置传感器，麦克风，扬声器，触觉传感器和触觉致动器的接口; 根据从BCI和运动传感器或位置传感器接收的BCI信息和运动信息生成用于控制机器人的行为的命令的命令服务器，并通过机器人输出从麦克风接收的人的语音信息; BCI运动学习服务器，其基于从BCI和运动传感器或位置传感器接收的BCI信息和运动信息构建BCI运动映射数据库和在命令服务器中使用的标签确定模型; 以及感觉服务器，其处理通过机器人获得的音频，视频和触觉信息，并且通过扬声器，HMD或智能眼镜以及触觉致动器输出处理的信息。 （110）BCI设备;（120）HMD /智能眼镜;（130）视觉传感器;（140,620）麦克风;（160）位置传感器;（200）命令服务器;（400）BCI运动学习服务器; （500）感觉服务器;（610）相机;（640）扬声器;（650）触觉传感器;（AA）运动命令，语音;（BB）BCI数据，视觉/位置数据，声音;（CC）人型;（DD ）人;（EE）原始感觉数据;（FF）处理的感觉数据