用对话让轮椅与机械臂协同工作，更自然地理解用户需求。
A Dialogue-Based Human-Robot Interaction Protocol for Wheelchair and Robotic Arm Integrated Control
- 通过对话交互理解用户意图，替代传统手动控制
- 5名参与者完成5项任务，多数人反馈体验良好
- 适合残障人士的智能辅助系统研发参考
下肢和上肢功能障碍者可通过轮椅和机械臂提升行动能力与独立性。现有辅助接口如触摸屏、语音预设指令等往往不够直观，难以准确捕捉复杂意图。本文提出一种基于对话的自然人机交互协议，模拟智能代理与用户沟通，理解意图并执行辅助动作。在试点研究中，5名参与者通过对话与轮椅及机械臂协作完成5项任务（清洁、饮水、喂食、开抽屉、开门）。作为基线，参与者还使用手动控制（轮椅摇杆与游戏手柄）完成开门任务，并填写问卷收集反馈。分析显示，多数参与者喜爱对话交互方式及机器自主性。
原文摘要 · Abstract (English)
People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven predefined commands, often remain unintuitive and struggle to capture complex user intent. We propose a natural, dialogue based human robot interaction protocol that simulates an intelligent agent capable of communicating with users to understand intent and execute assistive actions. In a pilot study, five participants completed five assistive tasks (cleaning, drinking, feeding, drawer opening, and door opening) through dialogue-based interaction with a wheelchair and robotic arm. As a baseline, participants were required to open a door using the manual control (a wheelchair joystick and a game controller for the arm) and complete a questionnaire to gather their feedback. By analyzing the post-study questionnaires, we found that most participants enjoyed the dialogue-based interaction and assistive robot autonomy.
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