| 姜国栋*,付明磊*,李臻恺*,郑雅羽*,王灿**,Uladzislau Sychou***.面向医护机器人的人机技能传递方法研究综述[J].高技术通讯(中文),2025,35(8):868~881 |
| 面向医护机器人的人机技能传递方法研究综述 |
| Survey of human-machine skill transfer method of medical robot |
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| DOI：10. 3772 / j. issn. 1002-0470. 2025. 08. 006 |
| 中文关键词: 医护机器人； 人机技能传递； 模仿学习； 示教学习 |
| 英文关键词: medical nursing robot, human-robot skill transfer, imitation learning, learning from demonstration |
| 基金项目: |
| 作者 | 单位 | | 姜国栋* | (*浙江工业大学信息工程学院杭州 310023)
(**杭州灵西机器人智能科技有限公司杭州 311121)
(***白俄罗斯国家科学院信息学问题联合研究所明斯克 220012 白俄罗斯) | | 付明磊* | | | 李臻恺* | | | 郑雅羽* | | | 王灿** | | | Uladzislau Sychou*** | |
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| 中文摘要: |
| 介绍了国内外代表性的医护机器人，总结了新一代医护机器人在人机技能传递、机械臂柔顺运动控制和多模态人机交互等方面的关键技术。本文还详细介绍了人机技能传递中高斯混合模型与高斯混合回归、高斯过程、动态运动基元、动态系统稳定估计器和概率运动基元等5种代表性模仿学习方法的原理、特点和实现方法。同时设计了以药品抓取和移动动作为代表的单次示教实验，和以自主消毒动作为代表的多次示教实验，分别从轨迹和速度相似性等性能指标对5种模仿学习方法进行了对比分析。最后探讨了这些模仿学习方法在医护机器人应用背景下的优势与不足，为医护机器人的人机技能传递实践与应用提供有益借鉴。 |
| 英文摘要: |
| In this paper, representative medical nursing robots from both domestic and international contexts are introduced, and their functionalities are compared. The key technologies of the new generation of medical nursing robots, including manipulator compliant motion control technology, multi-mode human-robot interaction technology, and imitation learning technology, are summarized. The principles, characteristics, and implementation methods of five representative simulation learning methods are discussed, namely, Gaussian mixture model and Gaussian mixture regression, Gaussian process, dynamic movement primitives, dynamic system stability estimator, and probabilistic motion primitives. Then, a single teaching experiment represented by drug grasping and moving action, and multiple teaching experiments represented by autonomous disinfection action are designed. The five imitation learning methods are compared and analyzed based on trajectory and velocity similarity performance indicators. Finally, the advantages and disadvantages of these imitation learning methods in the application background of medical robots are discussed, providing useful reference for the practice and application of human-machine skill transfer in medical robot operation. |
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