通用机械手臂式毛发梳理系统之设计与评估
Design and Evaluation of a Hair Combing System Using a General-Purpose Robotic Arm
摘要：
这项工作介绍了一种方法，自动梳头的轻量级机器人。对于行动不便、灵活性有限或长期疲劳的人来说，梳理头发通常是一项困难的任务，会对个人日常生活产生负面影响。我们提出了一个模块化的系统，使一般的机器人机械手，以协助头发梳理任务。该系统由三个主要部分组成。第一个组件是分割模块，它分割头发在空间中的位置。第二个组件是路径规划模块，它根据用户输入提出自动生成的穿过头发的路径。最后一个组件创建机器人执行的轨迹。我们定量评估的有效性，由48个用户的系统规划的路径和定性评估系统与30个用户观看视频的机器人在物理世界中执行梳头任务。该系统被证明可以有效地梳理不同的发型。
英文摘要：
This work introduces an approach for automatic hair combing by a lightweight robot. For people living with limited mobility, dexterity, or chronic fatigue, combing hair is often a difficult task that negatively impacts personal routines. We propose a modular system for enabling general robot manipulators to assist with a hair-combing task. The system consists of three main components. The first component is the segmentation module, which segments the location of hair in space. The second component is the path planning module that proposes automatically-generated paths through hair based on user input. The final component creates a trajectory for the robot to execute. We quantitatively evaluate the effectiveness of the paths planned by the system with 48 users and qualitatively evaluate the system with 30 users watching videos of the robot performing a hair-combing task in the physical world. The system is shown to effectively comb different hairstyles.
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