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研究生:李宗霖
論文名稱:智慧型遠端陪伴照護系統
論文名稱(外文):Intelligent Remote System for Elderly Care
指導教授:任復華任復華引用關係
學位類別:碩士
校院名稱:明新科技大學
系所名稱:精密機電工程研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2011
畢業學年度:99
語文別:中文
論文頁數:83
中文關鍵詞:服務型機器人系統寵物機器人保全機器人人機介面
外文關鍵詞:service robot systempet robotsecurity robothuman-machine interface
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在社會高齡少子化現象益趨嚴重的情形下,老人的健康照護是很重要的,目前長青社福機構面臨的問題包括:老人照護人手不足、無法滿足老人娛樂需求、以及老人對於監管環境之心理壓力等。本研究目的是設計與開發一套互動式機器人系統,在兼顧娛樂與保全的功能下與人互動,針對社服機構老人照護目的為設計重點,此服務型機器人系統包含了寵物機器人、輪型保全機器人與系統人機介面,構成一套機器人遠端陪伴照護系統。
本研究針對老人照護提出智慧型遠端系統的解決方案,應用智慧機器人,將保全、娛樂、及遠端監控等功能結合成一套智慧型遠端系統,用以取代人力,降低人力成本;系統中包括寵物機器人,用以陪伴老人及提供娛樂功能,並能透過感知系統感測老人與機器人互動狀況,適時對系統發出信號;另一智慧保全機器人在接收信號後,可進行門禁安全監控與導引服務,避免老人在無知覺情形下離開安全環境;中央監控系統可隨時透過寵物機器人與保全機器人,瞭解老人活動狀態,確保老人的安全。
在老人照護方面之服務型機器人已有許多例子,但大部分無法同時結合娛樂、保全及監控,所以本研究具有創新且符合時代需求,讓年長者在無人為壓力的情況下與機器人互動,藉此滿足娛樂需求及心靈上的慰藉,社福機構也能建立一個不具壓力的管控環境。

Due to the development of the aging society, elderly care becomes more and more important. There are several problems encountered by social service agencies, including shortage of man-power, insufficiency for proper entertainments, and mental pressure for elderly under a monitoring environment. The purpose of this study is to design and develop an intelligent service robot system used in a social service agency. The system is an interactive system that includes a pet robot, a wheeled security robot, and a system interface. These features make this system a remote elderly care system.
This study provides a solution for elderly care with an intelligent remote system. It combines intelligent robots with security, entertainment, remote monitoring features all together. The system can help in reducing man-power cost. The pet robot, used for accompanying elderly with entertainment function, can transmit the interaction condition with elderly to the system interface through a sensory system. Another security robot, after receiving signals from the system, can act as an access control or a guide service. It prevents that elderly jeopardize themselves by leaving a secured environment. The system interface hosted in the monitoring room can display the status of elderly activities to ensure the safety condition.
There were many examples of service robots used in elderly care. However, most of them emphasize on their own functions without integrating others. This research particularly provides a monitoring system that will not let the elderly feel mental pressure by using pet robot. Such system may satisfy many social aspects in elderly care provided by social service agencies.

摘要 i
Abstract ii
誌謝 iii
目錄 iv
圖目錄 vi
表目錄 ix
第一章 緒論 1
1-1 研究動機與目的 1
1-2 文獻探討 2
1-3 研究方法 7
第二章 寵物機器人 10
2-1 簡介 10
2-2 行為設計編輯 12
2-3 動作設計編輯 14
2-4 馬達與感測器 19
2-5 終端檢測系統 22
2-6 外觀設計 23
2-7 功能介紹 24
第三章 輪型保全機器人 30
3-1 輪型機器人 30
3-2 機械手臂 31
3-3 軟硬體整合 32
3-4 模擬場景 33
第四章 系統人機介面 35
4-1 功能介紹 35
4-2 系統架構整合 37
4-3 寵物機器人隨機動作介面 39
4-4 系統操作與模擬 40
第五章 結果與討論 42
第六章 結論與未來展望 45
參考文獻 47
附錄A WiRobot Gateway名稱修改 51
附錄B BIOLOID套裝軟體簡介 54
附錄C ZigBee ID設定 69

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3 Helge Hüttenrauch and Kerstin Severinson Eklundh, “Fetch-and-carry with CERO: Observations from a long-term user study with a service robot,” Proceedings of the 2002 IEEE Int. Workshop on Robot and Human Interactive Communication, Berlin, Germany, Sept. 25-27, 2002, pp.158-163.
4 Matthias Hans, Birgit Graf, and Rolf Dieter Schraft, “Robotic Home Assistant Care-O-bot: Past–Present–Future,” Proceedings of the 2002 IEEE Int. Workshop on Robot and Human Interactive Communication, Berlin, Germany, Sept. 25-27, 2002, pp.380-385.
5 Dong Hyun Yoo, Hyun Seok Hong, Han Jo Kwon, and Myung Jin Chung, “Human-friendly care robot system for the elderly,” Proceedings of the Eighth International Conference on Rehabilitation Robotics (ICORR), April 23-25, 2003, pp.273-280.
6 Tapio Taipalus, and Kazuhiro Kosuge, “Development of Service Robot for Fetching Objects in Home Environment,” Proceedings 2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Espoo, Finland, June 27-30, 2005, pp.380-385.
7 Matthew Spenko, Haoyong Yu, and Steven Dubowsky, “Robotic Personal Aids for Mobility and Monitoring For The Elderly,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 14, No. 3, Sep. 2006, pp.344-351.
8 Kai-Tai Song, Chi-Yi Tsai, Fu-Sheng Huang, Jung-Wei Hong, Chen-Yang Lin, Chun-Wei Chen and Zhi-Sheng Lin. “Development of the Robot of Living Aid: RoLA,” Proceedings of the IEEE International Conference on Automation and Logistics, Qingdao, China, Sep. 2008, pp.443-448.
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10 邱敬峰,“以ZigBee平臺基礎應用於長期照護系統之研究”,亞洲大學碩士
論文,民國九十五年六月。
11 韓日盛,“高齡者日常生活活動監控與照顧系統開發”,南開科技大學碩士
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14 Cory D. Kidd, “A Sociable Robot to Encourage Social Interaction among the Elderly,” Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, May 2006, pp.3972-3976.
15 Kazuyoshi Wada, Takanori Shibata, Tomoko Saito Kayoko Sakamoto and Kazuo Tanie, “Psychological and Social Effects of One Year Robot Assisted Activity on Elderly People at a Health Service Facility for the Aged,” Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005, pp.2785-2790.
16 Peter H. Kahn, Jr., Batya Friedman, Deanne R.Perez-Granados, and Nathan G. Freier, “Robotic Pets in the Lives of Preschool Children,” CHI 2004 Late Breaking Results Paper, Vienna, Austria, April 24-29, 2004, pp.1449-1452.
17 Batya Friedman, Peter H. Kahn, Jr., Jennifer Hagman, “Hardware Companions? –What Online AIBO Discussion Forums Reveal about the Human-Robotic Relationship,” Ft. Lauderdale, Florida, USA, April 5-10, 2003, pp.273-280.
18 Mattias Jacobsson, “Play, Belief and Stories about Robots: A Case Study of a Pleo Blogging Community,” The 18th IEEE International Symposium on Robot and Human Interactive Communication Toyama, Japan, Sept. 27 Oct. 2, 2009, pp.232-237.
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21 Michael Montemerlo, Joelle Pineau, Nicholas Roy, Sebastian Thrun and Vandi Verma, “Experiences with a Mobile Robotic Guide for the Elderly,” AAAI-02 Proceedings, pp.587-592.
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26 Adriana Tapus, Maja J Matari´c, and Brian Scassellati,“The Grand Challenges in Socially Assistive Robotics,”IEEE Robotics and Automation Magazine Special Issue on Grand Challenges in Robotics, March, 2007,pp.35-42.
27 Jin-Woo Jung, Jun-Hyeong Do, Young-Min Kim, Kwang-Suhk Suh, Dae-Jin Kim, and Z. Zenn Bien, “Advanced Robotic Residence for the Elderly/the Handicapped: Realization and User Evaluation,” Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, Chicago, IL, USA, June 28-July 1, 2005, pp.492-495, 2005.
28 Hiroyasu Iwata, and Shigeki Sugano, “Design of Human Symbiotic Robot TWENDY-ONE,” 2009 IEEE International Conference on Robotics and Automation, Kobe International Conference Center Kobe, Japan, May 12-17, 2009, pp.580-586.
29 Tomomi Shibano, Yihsih Ho, Yuri Kono, Yasunari Fujimoto, and Toru Yamaguchi,“Daily support system for care prevention by using interaction monitoring robot,” The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010, pp.3477-3482.
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38 See http://www.ezgo99.com.tw/page/information.htm, last visited March 2011.
39 See http://candyweng.pixnet.net/blog/post/28422805, last visited March 2011.

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