Integrated and Configurable Voice Activation and Speaker Verification System for a Robotic Exoskeleton Glove

Abstract

Efficient human-machine interface (HMI) for exoskeletons remains an active research topic, where sample methods have been proposed including using computer vision, EEG (electroencephalogram), and voice recognition. However, some of these methods lack sufficient accuracy, security, and portability. This paper proposes a HMI referred as integrated trigger-word configurable voice activation and speaker verification system (CVASV). The CVASV system is designed for embedded systems with limited computing power that can be applied to any exoskeleton platform. The CVASV system consists of two main sections, including an API based voice activation section and a deep learning based text-independent voice verification section. These two sections are combined into a system that allows the user to configure the activation trigger-word and verify the user’s command in real-time.

Vision-Based Human-Machine Interface for an Assistive Robotic Exoskeleton Glove

“…The exoskeleton's operation can be outlined in three steps. First, the user interacts with the exoskeleton through a voice-based Human-Machine Interface (HMI) to instruct it on the desired grasp type (Guo et al, 2020. Second, the user, having a functional arm, selects an appropriate grasp position based on the object's location and places the exoskeleton accordingly.…”

“…The grasp procedure is as follows: The user initiates the system using a personalized voice command system (Guo et al, 2020) to capture a 1280x760 pixel image. By employing the methods proposed in previous sections, the size and weight of the grasped object can be calculated.…”

“…Visionbased HMI requires minimal user action, but is low in precision and lacks initial grasp force planning ability (Kim et al, 2019;Pham et al, 2015;Ko et al, 2023;Calandra et al, 2018;Yamaguchi and Atkeson, 2017;Takamuku and Gomi, 2019). Voice-based HMI is known for its outstanding high accuracy, but lacks force planning ability (Guo et al, 2020;Wang et al, 2019;Kim et al, 2020). Force planning is critical for exoskeleton HMIs and can only be provided by the user through EMGbased HMIs.…”

Few-shot re-identification of the speaker by social robots

“…Finally, STAIR is able to accept commands given by authorized people, that are recognized through their voice. In the same way, in (Pleva et al, 2017) and (Guo et al, 2020) the authors propose to use the vocal characteristics of the interlocutor for authentication purposes. Intuitively, the ability of identifying the person who is giving a command enhances the security of the system itself.…”