Effective intention reading technique as a means of human-robot interaction for human centered systems

Human-robot interaction technologies are very important components in the human centered system. Among many human-robot interaction technologies, the intention reading of a user plays an important role in human centered systems. In the paper, we focus on the use of intention reading in rehabilitation robots, and implement its capability for the wheelchair-based robotic arm system, called KARES (KAIST Rehabilitation Engineering Service System) II. For effective intention reading, visual servoing by using an image sequence of user´s face or control by using EMG signals of user´s arm are applied to KARES II. Specially, it is shown that soft computing techniques are very effective for intention reading