KR20130137262A - Sociability training apparatus and method thereof - Google Patents
Sociability training apparatus and method thereof Download PDFInfo
- Publication number
- KR20130137262A KR20130137262A KR1020120060697A KR20120060697A KR20130137262A KR 20130137262 A KR20130137262 A KR 20130137262A KR 1020120060697 A KR1020120060697 A KR 1020120060697A KR 20120060697 A KR20120060697 A KR 20120060697A KR 20130137262 A KR20130137262 A KR 20130137262A
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- South Korea
- Prior art keywords
- information
- trainee
- training mode
- training
- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
Abstract
Disclosed are a social training apparatus and a method thereof. An input unit to receive behavior information of a trainee; A trainee status analysis unit for analyzing the trainee's behavior information and classifying the trainee's behavior information into any of excitement information, pleasure information, and intimacy information to analyze the trainee's status; A training mode determiner configured to determine a training mode according to an analysis state of the trainee; Disclosed is a social training apparatus including a robot controller for controlling a robot according to the determined training mode.
Description
The embodiment relates to a social training apparatus and a method thereof, and more particularly, to an apparatus and a method for training the sociality of autistic children.
Autistic children are characterized by the lack of self-initiated interactions, turn-taking, imitation, emotion recognition, joint attention, and eye contact, which are basic functions for social and communication. In other words, cognitive development is immature and lacks sociality. Autistic children with these characteristics are difficult to socialize as adults. Without proper treatment at the right time, social interaction with people becomes impossible. In recent years, early detection and behavioral treatment of autism has been actively conducted in university hospitals and research institutes, and treatment has been carried out using robots (toys) that are not more complicated than human emotions. Recent research trends also suggest that robots can draw attention to children with autism and that their concentration has improved.
Patent 10-1061171 discloses a robot and a robot control system for play therapy. A robot that outputs visual, auditory and tactile and behavioral stimuli for play therapy; A mobile terminal which receives a child's response according to the stimulus output by the operator as response information and transmits it to the outside, and transmits a control command to the robot to output a stimulus according to the request of the operator; Receives response information transmitted from the mobile terminal and determines whether the robot outputs a stimulus, whether it is preferred, unfavorable, or unresponsive, and selects the next stimulus according to the preference, non-preferred or non-response of the stimulus, and then selects the next stimulus. Disclosed is a robot control system for play therapy, characterized in that it comprises a server for transmitting a control command to the robot. However, it was only possible to analyze the one-dimensional behaviors of the children's behaviour, preference, non-response and non-response, and the children's behavior could not be trained by analyzing the children's behavior from various angles.
According to an aspect of the present invention, the behavior of autistic children can be analyzed in multiple angles.
According to an aspect of the present invention, by controlling the robot in accordance with the behavior of the child with autism, it is possible to train sociality actively and efficiently.
According to an aspect of the invention, the input unit for receiving the behavior information of the trainee; A trainee status analysis unit for analyzing the trainee's behavior information and classifying the trainee's behavior information into any of excitement information, pleasure information, and intimacy information to analyze the trainee's status; A training mode determiner configured to determine a training mode according to an analysis state of the trainee; There is provided a social training apparatus including a robot controller for controlling a robot according to the determined training mode.
According to another aspect of the invention, the input unit, there is provided a social training apparatus that receives at least one of the EEG, voice information, image information, contact information of the trainee.
According to another aspect of the present invention, the trainee state analysis unit is provided, the sociality training device for analyzing the emotion information of the trainees based on the enjoyment information and excitement information.
According to another aspect of the invention, the emotional information is provided with a social training apparatus, including six information of happiness, surprise, anxiety, anger, sadness, satisfaction.
According to another aspect of the present invention, the training mode determination unit is provided, the sociality training device for determining the training mode of the trainees based on the emotion information or intimacy information.
According to another aspect of the invention, the training mode of the trainee is a first training mode to train the trainees, a second training mode to encourage the trainees to train, a third training mode not training the trainees Including a social training device is provided.
According to another aspect of the present invention, the training mode determination unit is provided with a social training apparatus, which extends the range of the first training mode in proportion to the intimacy information.
According to another aspect of the present invention, the robot control unit is provided, the social training apparatus for determining the speed of the robot according to the training mode based on the excitation information.
According to another aspect of the present invention, the robot control unit is provided, the social training apparatus for determining the behavior range of the robot according to the training mode based on the familiarity information.
According to another aspect of the invention, the step of receiving the behavior information of the trainee; Analyzing the trainee's behavior information to classify the trainee's behavior information into any of excitement information, pleasure information, and intimacy information to analyze the trainee's state; And determining a training mode according to an analysis state of the trainee. There is provided a social training method comprising the step of controlling the robot according to the determined training mode.
According to another aspect of the invention, the step of receiving the training information of the trainee, the social training method comprising the step of receiving at least one of the EEG, voice information, image information, contact information of the trainee Is provided.
According to another aspect of the present invention, analyzing the trainee's state further includes analyzing the trainee's emotion information based on the enjoyment information and the excitement information.
According to another aspect of the present invention, analyzing the trainee's state further includes analyzing the trainee's emotion information based on the enjoyment information and the excitement information.
According to another aspect of the present invention, the emotional information is provided with a sociality training method, including six information of happiness, surprise, anger, fear, sadness, disgust.
According to another aspect of the present invention, the determining of the training mode comprises providing a training mode of the trainee based on the emotion information or the intimacy information.
According to another aspect of the invention, the training mode of the trainee is a first training mode to train the trainees, a second training mode to encourage the trainees to train, a third training mode not training the trainees Including a social training method is provided.
According to another aspect of the present invention, the determining of the training mode further includes extending the range of the first training mode in proportion to the intimacy information.
According to another aspect of the invention, the step of controlling the robot, there is provided a social training method for determining the speed of the robot according to the training mode based on the excitation information.
According to another aspect of the invention, the step of controlling the robot, there is provided a social training method for determining the behavior range of the robot according to the training mode based on the familiarity information.
According to an aspect of the present invention, there is an effect that analyzes the affinity and a variety of emotions between autistic children and robots.
According to an aspect of the present invention, by actively controlling the robot according to the behavior of the child with autism, there is an effect that can effectively train the sociality of the child with autism compared to the prior art.
1 is a diagram illustrating a relationship between a
2 is a diagram illustrating an internal configuration of the
3A and 3B are diagrams illustrating a three-dimensional graph in which a trainee state analyzing
4A is a diagram illustrating an emotional state and a training mode according to pleasure information and excitement information when z is constant according to an embodiment.
4B to 4D are diagrams illustrating a change in training mode according to a change in z, according to an exemplary embodiment.
5 is a flowchart illustrating a social training method according to an embodiment.
The following detailed description of the invention refers to the accompanying drawings, which illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with an embodiment. It is also to be understood that the position or arrangement of the individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.
1 is a diagram illustrating a relationship between a
The
The
2 is a diagram showing the internal configuration of the
The
The voice information is information related to sound waves generated by the
According to an embodiment, the
Trainee
In the case of the aforementioned input information, the waveform of the EEG, the waveform of the voice information, and the image information (face information) may be calculated as pleasure information.
Image information (speed information) may be calculated as excitation information. In more detail, the image information (speed information) may include a movement speed of a trainee's body, a movement speed of a hand, and a movement speed of a head.
Distance information, posture information, face information, and contact information between the
However, it is a cylindrical coordinate system which satisfies the conditions of 0≤r≤1, 0≤θ≤2π, and 0≤z≤1.
Referring to FIG. 3B, when it is assumed that r = 1 is constant, a cylindrical coordinate system in which the height of the cylinder varies according to z can be confirmed. Although it will be described later, the area of the training mode may vary according to z.
The
Referring to FIG. 4A, in one embodiment, the training mode may specify a training mode based on emotion information (pleasure information, excitement information) or intimacy information. 4A assumes that z is fixed at 0.5. According to the amount of pleasure information and excitement information, emotions of happiness, surprise, anger, sadness, and disgust can be expressed in a graph. Green area). In order to train a trainee, it is basically to keep the trainee in a positive stable state. In addition, when the sum of the squares of the enjoyment information and the excitation information is equal to or less than a predetermined range, the third training mode (pink region) in which the trainee is not trained can be designated. If the trainee is in a very negative state, the treatment psychology of the autistic child is allowed to reflect what is left to the trainee to do what he / she wants to do. Areas other than the first training mode and the third training mode may be designated as a second training mode (blue area) that encourages the trainee to train. To encourage the trainee to change from negative to positive.
4b to 4d are diagrams illustrating a change in training mode according to a change in z. 4B illustrates a case where z = 0, FIG. 4C illustrates a case where z = 0.4, and FIG. 4D illustrates a case where z = 1. The higher the intimacy, the wider the marginal zone in which the trainee can be trained in the same emotional state. The higher the intimacy, the higher the emotional level the trainee can afford.
The robot controller 140 controls the
5 is a flowchart illustrating a sociality training method according to an embodiment of the present invention. First, input information is received from the trainee 300 (S401). In one embodiment, the behavior information of the
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims.
Therefore, the spirit of the present invention should not be limited to the embodiments described above, and all of the equivalents or equivalents of the claims, as well as the claims below, are included in the scope of the spirit of the present invention. I will say.
100: sociality training device
110: input unit
120: Trainee Status Analysis
130: training mode determination unit
140: robot control unit
200: robot
300: Trainee
Claims (18)
A trainee status analysis unit for analyzing the trainee's behavior information and classifying the trainee's behavior information into any of excitement information, pleasure information, and intimacy information to analyze the trainee's status;
A training mode determiner configured to determine a training mode according to an analysis state of the trainee;
And a robot controller for controlling the robot according to the determined training mode.
The input unit, the social training device that receives at least one of the EEG, voice information, image information, contact information of the trainee.
The trainee state analysis unit, the sociality training device for analyzing the emotion information of the trainees based on the pleasure information and excitement information.
The emotion information includes six kinds of information of happiness, surprise, anxiety, anger, sadness, satisfaction.
The training mode determining unit determines the training mode of the trainee based on the emotion information or intimacy information.
The training mode of the trainee includes a first training mode for training the trainee, a second training mode for encouraging the trainee to train, and a third training mode for not training the trainee.
The training mode determination unit, to expand the range of the first training mode in proportion to the intimacy information, social training apparatus.
The robot controller determines the speed of the robot according to the training mode based on the excitation information.
The robot controller determines a range of behavior of the robot according to the training mode based on the intimacy information.
Analyzing the trainee's behavior information to classify the trainee's behavior information into any of excitement information, pleasure information, and intimacy information to analyze the trainee's state; And
Determining a training mode according to an analysis state of the trainee;
And controlling the robot according to the determined training mode.
The receiving of the training information of the trainee includes receiving at least one of the trainee's EEG, audio information, image information, and contact information.
The analyzing of the trainee's state further includes analyzing emotion information of the trainee based on the pleasure information and excitement information.
The emotion information includes six kinds of information: happiness, surprise, anger, fear, sadness, disgust.
The determining of the training mode may include determining a training mode of the trainee based on the emotion information or the intimacy information.
The training mode of the trainee includes a first training mode for training the trainee, a second training mode for encouraging the trainee to train, and a third training mode for not training the trainee.
Determining the training mode,
And extending the range of the first training mode in proportion to the intimacy information.
The controlling of the robot may include determining a speed of the robot according to the training mode based on the excitation information.
The controlling of the robot may include determining a range of behavior of the robot according to the training mode based on the familiarity information.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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KR1020120060697A KR20130137262A (en) | 2012-06-07 | 2012-06-07 | Sociability training apparatus and method thereof |
PCT/KR2012/008912 WO2013183822A1 (en) | 2012-06-07 | 2012-10-29 | Apparatus for training sociability and a method therefor |
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KR1020120060697A KR20130137262A (en) | 2012-06-07 | 2012-06-07 | Sociability training apparatus and method thereof |
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KR1020120060697A KR20130137262A (en) | 2012-06-07 | 2012-06-07 | Sociability training apparatus and method thereof |
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WO (1) | WO2013183822A1 (en) |
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CN107283389B (en) * | 2017-08-31 | 2021-03-16 | 李景龙 | Robot for assisting in treating autism |
CN109623816A (en) * | 2018-12-19 | 2019-04-16 | 中新智擎科技有限公司 | A kind of robot recharging method, device, storage medium and robot |
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KR20070110158A (en) * | 2006-05-12 | 2007-11-16 | 고려대학교 산학협력단 | Apparatus for feedback according to emotional state, method thereof and recording medium thereof |
KR100919095B1 (en) * | 2008-01-18 | 2009-09-28 | 주식회사 케이티 | Method of executing robot behavior based on user behavior and its robot |
KR101016381B1 (en) * | 2009-01-19 | 2011-02-21 | 한국과학기술원 | The emotion expression robot which can interact with human |
KR101061771B1 (en) * | 2009-11-30 | 2011-09-05 | 재단법인대구경북과학기술원 | Robot and Robot Control System for Play Therapy |
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