CN107243905A - Mood Adaptable System based on endowment robot - Google Patents
Mood Adaptable System based on endowment robot Download PDFInfo
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- CN107243905A CN107243905A CN201710508367.8A CN201710508367A CN107243905A CN 107243905 A CN107243905 A CN 107243905A CN 201710508367 A CN201710508367 A CN 201710508367A CN 107243905 A CN107243905 A CN 107243905A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
Abstract
The present patent application discloses a kind of mood Adaptable System based on endowment robot, including：Mood acquisition module, mood acquisition module is used to gather old man's emotional characteristics；Emotion identification module, Emotion identification module is recognized for emotional characteristics, judges old man's current emotional states, and the emotional state identified according to Emotion identification module determines mood comfort strategy, and exports decision control signal；Decision-making output module, decision-making output module is used to perform decision control signal；Decision feedback module, decision feedback module is used to gather emotional characteristics and behavioural characteristic and identification feature that old man comforts mood policy feedback.This programme can more accurately speculate that old man is intended to, and the actual conditions for old man carry out intimate mood comfort, greatly improve old man's experience, have been really achieved and the functional requirement that emotion is accompanied and attended to is carried out to old man.
Description
Technical field
It is adaptively the present invention relates to robot communication technical field, more particularly to a kind of mood based on endowment robot
System.
Background technology
China's Aging Problem is serious, and the health problem at heart of " Empty nest elderly " gains a special interest.At 2010 the 6th
During secondary census, Empty nest elderly has reached 31.77%, and ratio of problems reaches 60% in Empty nest elderly.Therefore,
The old man not accompanied at one's side for children, carries out spirit to it with which kind of means and accompanies and attends to, it is to avoid the transmission of its mental disease, into
For it is current in the urgent need to address the problem of.
In order to solve the above problems, in recent years it has been proposed that replacing people to carry out spiritual company, mesh to old man using robot
The preceding robot product for having some on the market can be interactive with people's progress.But, robot enters to be really achieved to old man
The functional requirement that market sense is accompanied and attended to, preferably incorporates its life, first has to fully understand the intention of old man, understands its psychology and becomes
Change, the characteristics of for different old men and demand carries out different types of interaction.Much research shows, physiologic information, the face of people
The various modes such as expression, speech intonation, gesture motion can be different degrees of reaction mood and psychology change.
Chinese invention patent（Publication number：CN105082150B）Disclose a kind of machine based on old man's mood and intention assessment
Device people's man-machine interaction method, it is old that it is combined progress using the biological information of human body such as breathing, heart rate, skin electricity and human facial expression recognition
People's Emotion identification, using a variety of physical sensor informations such as pressure, photoelectricity, temperature, identification old men are intended to, according to old man's mood and
The result of intention assessment carries out intelligent control decision-making, and the corresponding executing agency of control machine people completes limb action and voice is handed over
Mutually.The robot man-machine interaction method based on old man's mood and intention assessment provided using the present invention, can make robot more
Plus the intention of old man is completely understood by, understand its psychology change, meet and the functional requirement that emotion is accompanied and attended to is carried out to old man, preferably
Incorporate the life of the users such as old man, children.
However, because the special physiology of old man, psychology and character trait, old man can exist mostly it is sensitive, suspicious, emotional very
To bigoted personality feature, during using above-mentioned technical proposal, when robot, to recognize old man's current state more sad, passes through intelligence
When man-machine interaction is realized in energy decision-making, it is understood that there may be in the case of old man does not appreciate the kindness or old man needs peace and quiet, robot can be entered
Refusal on row expression, speech or limbs, comfort in this case may play a part of running counter to desire, it is impossible to really reach
To the functional requirement that emotion is accompanied and attended to is carried out to old man, old man's life is preferably incorporated.
The content of the invention
, can not be real to solve robot the invention is intended to provide a kind of mood Adaptable System based on endowment robot
Reach and the functional requirement that emotion is accompanied and attended to is carried out to old man.
The present invention provides base case：Based on the mood Adaptable System of endowment robot, including：
Mood acquisition module, mood acquisition module is used to gather old man's emotional characteristics；
Signal processing module, signal processing module is used to carry out signal transacting to emotional characteristics signal；
Emotion identification module, Emotion identification module is recognized for emotional characteristics, by extracting the characteristic signal of emotional characteristics, feature
Merged after optimization, selection, combined according to optimal characteristics and the emotional state of old man is identified, with reference to user record, practised
It is used, judge old man's current emotional states, and mood comfort strategy is determined according to the emotional state identified；
Decision-making output module, decision-making output module is used to export decision control signal；
Decision feedback module, decision feedback module is used to gather emotional characteristics of the old man to mood comfort policy feedback, and recognizes
This feature；
The mood acquisition module is additionally operable to gather the emotional characteristics that old man comforts mood policy feedback, the Emotion identification mould
The emotional characteristics that block is additionally operable to the feedback gathered according to decision feedback module carries out Developing Tactics and record storage.
The operation principle of base case：
Emotional characteristics of the present invention refers to the emotional state of the spontaneous happiness, anger, grief and joy shown of people.Mould is gathered by mood
Block is gathered in real time to old man's emotional characteristics, and carrying out noise reduction, amplification and modulus to the signal of collection through signal processing module turns
Change after processing and be sent to Emotion identification module and carry out emotional characteristics identification, by extracting the characteristic signal of emotional characteristics, feature
Merged after optimization, selection, combined according to optimal characteristics and the emotional state of old man is identified, with reference to user record, practised
It is used, judge old man's current emotional states：There is difference when recognizing old man's current state, such as recognize angry, sad, sobbing, hair
During the unhappy state such as slow-witted, mood comfort strategy is determined according to the emotional state information identified, and be converted into it is corresponding certainly
Plan control signal is sent to decision-making output module, and decision-making output module receives decision control signal and performs corresponding actions, simultaneously
Emotional characteristics when control decision feedback module collection old man receives mood comfort strategy feeds back and carries out feature recognition, mood
Identification module carries out mood Developing Tactics according to the old man of decision feedback module feedback reaction, and to comforting successful emotional characteristics
And corresponding mood strategy is stored, and is transferred and is used after being easy to.
The beneficial effect of base case is：This programme is received after mood comfort using decision feedback module collection old man
Reaction, and adjust according to feedback result mood comfort strategy in time, is adapted to emotional change than larger, personality is difficult to the old man controlled
, can more accurately speculate that old man is intended to, the actual conditions for old man carry out intimate mood comfort, greatly improve old
People experiences, and has been really achieved and the functional requirement that emotion is accompanied and attended to is carried out to old man.
Further, mood acquisition module includes：
Face acquisition module, face acquisition module is used to gather old man's facial image signal；
Voice acquisition module, voice acquisition module is used to gather old man's voice signal；
Motion capture module, behavior acquisition module is used for the behavioural characteristic signal for gathering old man.
Beneficial effect：Gathered, voice acquisition module and motion capture module are combined, can fast and accurately known by face
Do not go out old man's emotional characteristics, be such as light, glad, sad, indignation, the accuracy of Emotion identification improved, so as to may be selected
Correct mood comfort strategy is comforted old man.
Further, emotional feedback module also includes impact induction module, and impact induction module is with robot, impact
Whether induction module is used to sense is impacted.Beneficial effect：For some mood unpredictables, suspicious old man, when receiving
After mood comfort, it is understood that there may be do not appreciate the kindness or in the case of old man needs peace and quiet, the refusal on limbs is carried out to robot, than
Such as：Old man strikes with the hand or Jiao Ti robots, can detect that whether robot is impacted by old man using impact induction module, so that
Mood comfort strategy is adjusted accordingly according to testing result.
Further, impact induction module includes some impact sensors, and the impact sensor is located at the arm of robot
Outside, lateral leg, front, the back side, face and head.Beneficial effect：The position of usual people's impact be concentrated mainly on head,
Face and the periphery of body, impact sensor is set at these positions, can accurately be determined by impact position, and then according to quilt
Impact position is adjusted accordingly to mood comfort strategy.Such as when impacting head, head hits sensor sensing to being impacted,
After Emotion identification module receives the signal that head is impacted, controllable robot arm touches the head impacted to old man
Carry out flighty：Other aches well head！Although old man's personality is more apt to change, suspicious, general old man has love very much, likes small
Child, if running into flighty child still can show kindly friendly one side.
Further, decision-making output module also includes：
Voice output module, voice output module is used to export voice signal, realizes man-machine interaction；
Action control module, action control module realizes limb action for control machine people.
Beneficial effect：Voice output module can carry out the comfort above language to old man, and action control module can be to old man
The comfort above limbs is carried out, allows old man to experience real emotion and accompanies and attends to, can not also recognize the emotional characteristics of old man
Shi Jinhang inquiries.
Further, mood comfort strategy includes music strategy, joke strategy, action policy, chat policies, listens attentively to company plan
Slightly.
Beneficial effect：According to the personality feature of different old men, mood comfort strategy can select to releive people's mood music,
Allow joke, dancing and some imitations made laughs and listen attentively to company, the language pacified etc. that people laughs heartily, add system can
Adaptability.
Brief description of the drawings
Fig. 1 is the theory diagram of mood Adaptable System embodiment of the present invention based on endowment robot.
Embodiment
Below by embodiment, the present invention is further detailed explanation：
Reference in Figure of description includes：Mood acquisition module 1, face acquisition module 11, voice collecting mould 12, action
Catch 13, signal processing module 2, Emotion identification module 3, decision-making output module 4, voice output module 41, action control module
42nd, decision feedback module 5, impact induction module 51.
Mood Adaptable System embodiment based on endowment robot is substantially as shown in Figure 1：
Including：
Mood acquisition module 1, mood acquisition module 1 is used to gather old man's emotional characteristics, and mood acquisition module 1 includes being used to gather
Old man's facial image signal face acquisition module 11, for gathering 12 pieces of old man's voice signal voice collecting mould and for gathering always
The module of motion capture 13 of the behavioural characteristic signal of people.Pass through face acquisition module 11,12 pieces of voice collecting mould and motion capture
13 modules are combined, and can fast and accurately identify old man's emotional characteristics, are such as light, glad, sad, indignation, are improved
The accuracy of Emotion identification, is comforted old man so that correct mood comfort strategy may be selected.
Signal processing module 2, signal processing module 2 is used to carry out signal transacting to emotional characteristics signal；
Wherein, by gathering voice, action, expression and the environmental information of old man, the mood of old man can fast and accurately be identified
Feature, improves the accuracy of identification；Wherein, the device that mood acquisition module 1 is specifically included is：For gathering image information
CCD（Charge coupling device）Camera；Three axis accelerometer, three-axis gyroscope and three axle magnetic force for judging body state
Meter；Microphone for gathering voice signal；For contacting by physical action, the pressure that " strike " or " patting " of such as user is caused
Feeler and other various sensors, such as touch low sensor, attitude sensor, range sensor；Pass through DSP series
Signal processing chip after the signal de-noising of above-mentioned collection, amplification and analog-to-digital conversion process to carrying out feature extraction, so as to identify
The mood of old man.
Emotion identification module 3, Emotion identification module 3 is recognized for emotional characteristics, judges old man's current emotional states, and root
Mood comfort strategy is determined according to the emotional state identified；
The emotional characteristics recognition methods of the present embodiment：Processor extracts the characteristic signal of emotional characteristics, and carries out characteristic optimization choosing
Merged after selecting, the characteristic optimization is to be selected using greedy algorithm or genetic algorithm or recursive feature based on SVM to spy
Levy and optimize；Combined according to optimal characteristics and study identification is carried out to the emotional state of old man, and to the classification and intensity of mood
Accurate Classification is carried out, study identification is as integrated using artificial neural network or Bayes's linear classifier or SVMs
The learner of study, with reference to user record, custom, judges the current mood of old man and residing scene, such as " worry ", " suddenly
It is hot-tempered ", " detecting tumble ", " detecting oneself to be impacted ", " acoustic ", " detect motion to " and " detect barrier
Hinder thing " etc..
Emotional state according to identifying determines mood comfort strategy, and mood comfort strategy includes music strategy, joke plan
Summary, action policy, chat policies, listen attentively to company strategy, by the personality feature of different old men, mood comfort strategy can select
The music for people's mood of releiving, allow people joke, dancing and some imitations made laughs for laughing heartily and the language listened attentively to company, pacified
Deng adding the adaptability of system.
Wherein, emotional characteristics identification module can make the ASIC intelligent integrated chips of low-power consumption, can so simplify simultaneously
Accelerate signal transacting and analysis process, realize the on-line analysis of signal, reduce research and the application cost of product so that should
Technology is easy to promote and used.Information pre-processing and feature extraction and identification technology using a large amount of reliable forward position achievements in research as
Instruct, with suitable for different crowds and environment.
Decision-making output module 4, decision-making output module 4 is used to export decision control signal；Wherein decision-making output module 4 includes
For exporting voice signal, realize the voice output module 41 of man-machine interaction and realize the dynamic of limb action for control machine people
Make control module 42.
Wherein, voice output module 41 can carry out the comfort above language to old man, and action control module 42 can be to old man
The comfort above limbs is carried out, allows old man to experience real emotion and accompanies and attends to, can not also recognize the emotional characteristics of old man
Shi Jinhang inquiries；Voice output module 41 uses loudspeaker and carries model E702T dio Output Modules, reaches output language
The effect of message number.
Action control module 42 includes some stepper motors of control limb action, each stepper motor correspondence control machine
Manipulator, mechanical arm, pedipulator and the mechanical head of people, animal is shaken hands, embraces, walks, shakes the head, dances and imitates so as to realize
Action.
Voice output module 41 realizes that, to the comfort above old man's language, action control module 42 is carried out on limbs to old man
The comfort in face, allows old man to experience real emotion and accompanies and attends to.
Decision feedback module 5, decision feedback module 5 is used to gather the emotional characteristics that old man comforts mood policy feedback,
And identification feature；
The mood acquisition module 1 is additionally operable to gather the emotional characteristics that old man comforts mood policy feedback, the Emotion identification
The emotional characteristics that module 3 is additionally operable to the feedback gathered according to decision feedback module 5 carries out Developing Tactics and record storage.
Old man's emotional characteristics is gathered in real time by mood acquisition module 1, and is sent to Emotion identification module 3 and is carried out
Emotional characteristics is recognized, judges old man's current emotional states：There is difference when recognizing old man's current state, such as recognize angry, sad
Wound, cry, the unhappy state such as stupefied when, then emotional state information is sent to Emotion identification module 3, Emotion identification module
3 determine mood comfort strategy according to the emotional state information that receives, and are converted into corresponding decision control signal and are sent to certainly
Plan output module 4, decision-making output module 4 receives decision control signal and performs corresponding actions, while control decision feedback module 5
Emotional characteristics when collection old man receives mood comfort strategy feeds back and carries out feature recognition, and Emotion identification module 3 is according to certainly
Old man's reaction that plan feedback module 5 feeds back carries out mood Developing Tactics, and to comforting successful emotional characteristics and corresponding mood
Strategy is stored, and is transferred and is used after being easy to.
Emotional feedback module also includes impact induction module 51, and impact induction module 51 is with robot, impact sense
Answer module 51 be used for sense whether impacted, for some mood unpredictables, suspicious old man, comforted when receiving mood
Afterwards, it is understood that there may be do not appreciate the kindness or in the case of old man needs peace and quiet, the refusal on limbs is carried out to robot, such as：Old man
Strike with the hand or Jiao Ti robots, can detect that whether impacted by old man using impact induction module 51, so as to be tied according to detection
Fruit adjusts accordingly to mood comfort strategy.
Impact induction module 51 include some impact sensors, the impact sensor located at robot arm on the outside of,
Lateral leg, front, the back side, face and head, usual people are concentrated mainly on head, face and body for the position of impact
Periphery, these positions set impact sensor, can accurately determine by impact position, and then according to by impact position pair
Mood comfort strategy is adjusted accordingly.Such as when impacting head, head hits sensor sensing band is impacted, and works as Emotion identification
Module 3 is received after the signal that head is impacted, and it is flighty to old man's progress that controllable robot arm touches the head impacted：
Other aches well head！Although old man's personality is more apt to change, suspicious, general old man has love very much, likes child, if met
Kindly friendly one side still can be shown to flighty child.
In use, being gathered in real time to old man's emotional characteristics by mood acquisition module 1, and it is sent to Emotion identification mould
Block 32 carries out emotional characteristics identification, and wherein face acquisition module 11 detects facial image signal, by detecting facial image signal,
Identify that countenance changes, such as frowning typicallys represent that sad, face is tight and to choose expression on eyebrow angry；Voice collecting mould 12
Block gathers old man's voice signal, identifies that the mood of people at that time is believed by voice signal, such as sighing sound " ... " represents sad
Or it is busy in the heart, be short of breath and sound it is larger and along with complaint, scold or abuse word when represent angry；Pass through behavior
Acquisition module gathers the behavioural characteristic signal of old man, the current emotional state of old man is gone out by behavioural characteristic signal identification, such as
" bat desk " represents angry, violent rage, and " the support cheek " represents to be probably sad.
Combined by three kinds of emotional characteristicses, determine that old man currently judges old man's current emotional states：When identify old man wrinkle
When eyebrow, sighing sound, the support cheek, then old man's current emotional states are judged to be sad or gloomy, then are believed sad or gloomy emotional state
Breath is sent to Emotion identification module 3, and Emotion identification module 3 determines mood according to the sad or gloomy emotional state information received
Comfort strategy is sent to decision-making output module 4 to laugh at strategy and action policy, and being converted into corresponding decision control signal, certainly
Plan output module 4 receives decision control signal and performs corresponding actions, and voice output module 41 starts to tell funny stories, in combination with doing
The action laughed at carries out mood comfort to old man.
The old man of the collection of control decision feedback module 5 simultaneously receives mood and comforts the emotional characteristics of policy feedback, and carries out
Feature recognition, face acquisition module 11,12 pieces of voice collecting mould and the module of motion capture 13 collection emotional characteristics, impact sensing mould
Whether the sensing of block 51 robot is impacted：
When identifying that current emotional characteristics has taken a turn for the better for happy or old man's mood, 3 pairs of Emotion identification module is comforted successfully
Emotional characteristics signal and corresponding mood strategy stored, be easy to record the personality feature of old man, convenient subsequently transfer makes
With.
When identifying that current emotional characteristics is that expression, voice or action are broken off relations, such as " impatient expression ", directly say
" no " and " waving ", old man's reaction that Emotion identification module 3 is fed back according to decision feedback module 5 carries out mood Developing Tactics, such as
Strategy is accompanied in selection, while control decision feedback module 5 gathers the mood spy that old man receives mood comfort policy feedback again
Behavioural characteristic of seeking peace simultaneously carries out feature recognition, so that the personality feature for understanding old man comforts pattern there is provided the mood of suitable old man.
When the impact sensor sensing on head is to impact signal, while identify that current emotional characteristics becomes irascible,
Old man's reaction that Emotion identification module 3 is fed back according to decision feedback module 5 carries out mood Developing Tactics in time, and action such as may be selected
Strategy：Touch head and say that some are selected if flighty, while control decision feedback module 5 gathers old man again receives mood comfort
The emotional characteristics and behavioural characteristic of policy feedback simultaneously carry out feature recognition, so that the personality feature for understanding old man is old there is provided being adapted to
The mood comfort pattern of people.
Old man's reaction that Emotion identification module 3 is fed back according to decision feedback module 5 carries out mood Developing Tactics, and to comfort
Successful characteristic signal and corresponding mood strategy are stored, and are transferred and are used after being easy to.
The present embodiment receives the reaction after mood comfort, and control system using 5 couples of collection old men of decision feedback module
Developing Tactics are carried out in time, are adapted to emotional change than larger, personality is difficult to the old man controlled, can more accurately speculate that old man anticipates
Figure, the actual conditions for old man carry out intimate mood comfort, greatly improve old man's experience, have been really achieved and old man is entered
The functional requirement that market sense is accompanied and attended to.
Above-described is only that the known general knowledge such as concrete structure and characteristic is not made herein in embodiments of the invention, scheme
Excessive description, technical field that the present invention belongs to is all before one skilled in the art know the applying date or priority date
Ordinary technical knowledge, can know prior arts all in the field, and with using normal experiment hand before the date
The ability of section, one skilled in the art can improve and implement under the enlightenment that the application is provided with reference to self-ability
This programme, some typical known features or known method should not implement the application as one skilled in the art
Obstacle.It should be pointed out that for those skilled in the art, without departing from the structure of the invention, can also make
Go out several modifications and improvements, these should also be considered as protection scope of the present invention, these effects implemented all without the influence present invention
Fruit and practical applicability.The scope of protection required by this application should be based on the content of the claims, the tool in specification
Body embodiment etc. records the content that can be used for explaining claim.
Claims (6)
1. the mood Adaptable System based on endowment robot, it is characterised in that including：
Mood acquisition module, mood acquisition module is used to gather old man's emotional characteristics；
Signal processing module, signal processing module is used to carry out signal transacting to emotional characteristics signal；
Emotion identification module, Emotion identification module is recognized for emotional characteristics, by extracting the characteristic signal of emotional characteristics, feature
Merged after optimization, selection, combined according to optimal characteristics and the emotional state of old man is identified, with reference to user record, practised
It is used, judge old man's current emotional states, and mood comfort strategy is determined according to the emotional state identified；
Decision-making output module, decision-making output module is used to export decision control signal；
Decision feedback module, decision feedback module is used to gather emotional characteristics of the old man to mood comfort policy feedback, and recognizes
This feature；
The mood acquisition module is additionally operable to gather the emotional characteristics that old man comforts mood policy feedback, the Emotion identification mould
The emotional characteristics that block is additionally operable to the feedback gathered according to decision feedback module carries out Developing Tactics and record storage.
2. the mood Adaptable System according to claim 1 based on endowment robot, it is characterised in that：The mood is adopted
Collection module includes：
Face acquisition module, face acquisition module is used to gather old man's facial image signal；
Voice acquisition module, voice acquisition module is used to gather old man's voice signal；
Motion capture module, behavior acquisition module is used for the behavioural characteristic signal for gathering old man.
3. the mood Adaptable System according to claim 1 based on endowment robot, it is characterised in that：The mood is anti-
Presenting module includes impact induction module, and impact induction module is with robot, and the impact induction module is for sensing
It is no to be impacted.
4. the mood Adaptable System according to claim 1 based on endowment robot, it is characterised in that：The impact sense
Module is answered to include some impact sensors, the impact sensor is located at the arm outside of robot, lateral leg, front, the back of the body
Face, face and head.
5. the mood Adaptable System according to claim 1 based on endowment robot, it is characterised in that：The decision-making is defeated
Going out module includes：
Voice output module, voice output module is used to export voice signal, realizes man-machine interaction；
Action control module, action control module realizes limb action for control machine people.
6. the mood Adaptable System according to claim 1 based on endowment robot, it is characterised in that：The mood peace
Console that strategy includes music strategy, joke strategy, action policy, chat policies, to listen attentively to company tactful.
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| CN111382648A (en) * | 2018-12-30 | 2020-07-07 | 广州市百果园信息技术有限公司 | Method, device and equipment for detecting dynamic facial expression and storage medium |
| CN109531601A (en) * | 2019-01-21 | 2019-03-29 | 合肥市云联鸿达信息技术有限公司 | A kind of children education robot |
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| CN110502609A (en) * | 2019-07-11 | 2019-11-26 | 江苏心涧康科技有限公司 | A kind of method, apparatus and company robot of adjusting mood |
| CN110502609B (en) * | 2019-07-11 | 2022-03-08 | 江苏心涧康科技有限公司 | Method and device for adjusting emotion and accompanying robot |
| CN110405794A (en) * | 2019-08-28 | 2019-11-05 | 重庆科技学院 | It is a kind of to embrace robot and its control method for children |
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| CN111975772A (en) * | 2020-07-31 | 2020-11-24 | 深圳追一科技有限公司 | Robot control method, device, electronic device and storage medium |
| CN113139525A (en) * | 2021-05-21 | 2021-07-20 | 国家康复辅具研究中心 | Multi-source information fusion-based emotion recognition method and man-machine interaction system |
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