打造可定制触感丰富的机器人情感交互平台
PuppetAI: A Customizable Platform for Designing Tactile-Rich Affective Robot Interaction
- 模块化设计支持柔性机器人手势自定义
- 实时语音驱动情感动作反馈，响应延迟低
- 适合社交机器人、人机交互研究者使用
我们提出PuppetAI，一个模块化的柔性机器人交互平台。该平台采用可扩展的缆线驱动执行系统和可定制的傀儡式手势框架，支持多种交互手势设计。其四层解耦软件架构包含感知处理、情感建模、运动调度与底层执行。通过构建情感表达闭环，实现对人类语音输入的实时情绪化动作响应。我们设计的软体机器人具备更高灵巧性与亲肤触感的毛绒外观。相比传统方案，平台显著降低操作复杂度与生产成本，提升可定制性，为未来基于触觉的情感机器人研究提供可拓展、易获取的基础框架。目标是让研究者能独立构建或优化社交机器人特定动作。
原文摘要 · Abstract (English)
We introduce PuppetAI, a modular soft robot interaction platform. This platform offers a scalable cable-driven actuation system and a customizable, puppet-inspired robot gesture framework, supporting a multitude of interaction gesture robot design formats. The platform comprises a four-layer decoupled software architecture that includes perceptual processing, affective modeling, motion scheduling, and low-level actuation. We also implemented an affective expression loop that connects human input to the robot platform by producing real-time emotional gestural responses to human vocal input. For our own designs, we have worked with nuanced gestures enacted by "soft robots" with enhanced dexterity and "pleasant-to-touch" plush exteriors. By reducing operational complexity and production costs while enhancing customizability, our work creates an adaptable and accessible foundation for future tactile-based expressive robot research. Our goal is to provide a platform that allows researchers to independently construct or refine highly specific gestures and movements performed by social robots.
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