以機器人為同伴為基礎之自閉症孩童互動系統

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謝承達(Cheng-ta Hsieh) 查詢紙本館藏

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資訊工程學系

論文名稱

以機器人為同伴為基礎之自閉症孩童互動系統
(An Interactive System based on a Robotic Companion for the Children with Autism)

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摘要(中)

自閉症（Autism）兒童，其病徵包括不正常的社交能力、溝通能力、興趣和行為模式。現在的治療方式（例如，社交故事，溝通圖卡，音樂療法）已經嘗試了多年。最近，許多社會互動的機器人也被用來協助自閉症兒童的治療。本文提出了一種基於機器人的互動系統，結合社交互動的機器人，社交故事，溝通圖卡。本文的互動系統包含兩個子系統：社交故事編輯系統和圖卡提示互動系統。
近年來，社交故事已被作為一種治療或教育工具，教導自閉症兒童特定的社交技巧，行為，概念。本文提出的社交故事編輯系統提供了一個良好的故事編輯介面，讓教師和家長可以輕鬆地編輯社交故事。然後機器人可以生動地表演社交故事。我們希望這種互動可以創造有趣和有意義的學習環境，以促進兒童的學習動機，提高他們在學習社交故事時的參與度。
溝通圖卡是另一種有效的教育工具，讓自閉症兒童，有效地的與人溝通，表達明確需求，並增加理解力。圖卡提示互動系統包含一個機器人，Kinect感應器，個人電腦，和一個溝通圖卡辨識模組。它賦予機器人讀出溝通圖卡的能力。通過這種有趣的互動，孩子們就可以自己練習圖卡的內容。
我們希望這個互動系統可以創造一個有趣的、吸引人的，和有意義的互動環境。我們希望這些互動系統可以減輕那群關愛和教育自閉症兒童的治療師或家長沉重的負擔。另外，我們希望該系統能促進自閉症兒童與外界互動的興趣，提高他們參與人與人互動的意願。

摘要(英)

Children with Autism usually present symptoms such as abnormal social skills, abnormal communication skills, and abnormal behavior patterns. Several therapeutic approaches (e.g., social stories, picture cards, music therapy) have been attempted over the years. Recently, many socially interactive robots have also been used to assist in the therapy of children with autism. This thesis proposes a robot-based interactive system which integrates socially interactive robots, social stories, and picture cards. The interactive system consists of two sub-systems: a social story interactive sub-system and a picture cue card interactive sub-system.

In recent years, social stories have been adopted as a treatment or education tool to teach specific social communication skills, behaviors, concepts to children with autism. The proposed social story interactive sub-system provides a user-friendly story editing tool to allow teachers or parents to easily edit social stories in terms of texts. Then the robot can vividly act out the social stories by itself. We hope this kind of interactions can create interesting and meaningful learning situations to promote children’ interest and improve their engagements in learning social stories.

Picture cue cards are another effective education tool to empower children with autism to effectively access communication, express demands, and increase comprehension. The picture cue card interactive sub-system consists of a robot, a Kinect sensor, a personal computer, and a picture cue card recognition module. It endows the robot with the ability of reading out the picture cards placed in front of it. Via this kind of interesting interactions, children can practice the learning material of the cards by themselves.

We hope the interactive system can create interesting, appealing, and meaningful interplay environments that compel children to interact with them. We hope these interactive systems can alleviate the therapy personnel or parents from the heavy burdens of the caring and educating children with autism. In addition, we hope the system can promote autism children’s interest to interact with the outside world and improve their engagement in being willing to interact with people.

關鍵字(中)

★ 自閉症
★ 機器人
★ 人機介面
★ 影像辨識

關鍵字(英)

★ Autism
★ Robot
★ Human-Computer Interaction
★ Image Recognition

論文目次

內容
摘要 I
ABSTRACT III
致謝 V
圖目錄 X
表目錄 XIII
一、緒論 1
1-1 研究動機 1
1-2 研究目的 3
1-3 論文架構 5
二、相關研究 6
2-1 自閉症 6
2-1-1 人際關係障礙 6
2-1-2 語言和溝通障礙 7
2-1-3 行為固著障礙 7
2-2 社交故事 8
2-3 圖片兌換溝通系統 10
2-4 科技應用於自閉症 13
三、社交故事編輯系統 17
3-1 系統架構 17
3-1-1 仿人型機器人 18
3-1-2 深度攝影機Kinect 19
3-1-3 軟體架構 21
3-2 動作編輯與推薦模組 22
3-3 資料庫建置 25
3-3-1 手動設定 25
3-3-2 體感設定 26
3-4 遠端連線操作 27
3-5 系統操作流程與介面 30
四、圖卡提示互動系統 31
4-1 系統架構 31
4-1-1 硬體架構 31
4-1-2 軟體架構 32
4-2 圖卡辨識 32
4-2-1 影像前處理 34
4-2-2 圖卡定位 38
4-2-3 特徵擷取 44
4-2-4 類神經網路 49
4-3 互動模式及人機介面 53
4-3-1 互動模式 53
4-3-2 圖卡新增介面 55
五、實驗設計與結果 58
5-1 訪談方法 58
5-1-1 訪談對象資料 59
5-1-2 訪談內容提綱 60
5-1-3 分析與討論 61
5-1-4 訪談節錄 62
5-2 系統使用性量表 65
5-3 圖卡辨識率實驗 65
5-3-1 圖卡位置準確率實驗 66
5-3-2 圖卡旋轉準確率實驗 71
六、結論與未來展望 76
6-1 結論 76
6-2 未來展望 77
參考文獻 78
附錄一、訪談內容 82
附錄二、SUS使用性量表 89

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指導教授

蘇木春(Mu-chun Su)

審核日期

2014-8-7

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