完整後設資料紀錄
DC 欄位語言
dc.contributor.authorZinchenko, Katerynaen_US
dc.contributor.authorWu, Chien-Yuen_US
dc.contributor.authorSong, Kai-Taien_US
dc.date.accessioned2018-08-21T05:53:59Z-
dc.date.available2018-08-21T05:53:59Z-
dc.date.issued2017-04-01en_US
dc.identifier.issn1551-3203en_US
dc.identifier.urihttp://dx.doi.org/10.1109/TII.2016.2625818en_US
dc.identifier.urihttp://hdl.handle.net/11536/145424-
dc.description.abstractSpeech recognition is common in electronic appliances and personal services, but its use for industrial and medical purposes is rare because of the presence of motion ambiguity. For minimally invasive surgical robotic assistants, this ambiguity arises because the robotic motion is not calibrated to the camera images. This paper presents a design for a speech recognition interface for an HIWIN robotic endoscope holder. A new intentional speech control is proposed to control movement over long distances. To decrease ambiguity, a method is proposed for voice-to-motion calibration that compares the degree of change in the endoscope image for a voice command. A speech recognition algorithm is implemented on Ubuntu OS, using CMU Sphinx. The control signal is sent to the robot controller using serial-port communication through a RS232 cable. The experimental results show that the proposed intentional speech control strategy has a navigation precision of up to 3.1 degrees of angular displacement for the endoscope. The overall system processing time, including robotic motion, is 3.22 s for similar to 1.8-s speech duration. The reference image navigation range is from 2.5 mm for similar to 0.5- s speech duration up to 6 mm for similar to 1.8-s speech duration, using a setup with camera tip that is located at a distance of 5 cm from the remote center of motion point.en_US
dc.language.isoen_USen_US
dc.subjectAutomated systemen_US
dc.subjecthuman-robot inter-faceen_US
dc.subjectmotion controlen_US
dc.subjectrobotic surgeryen_US
dc.subjectspeech recognition controlen_US
dc.titleA Study on Speech Recognition Control for a Surgical Roboten_US
dc.typeArticleen_US
dc.identifier.doi10.1109/TII.2016.2625818en_US
dc.identifier.journalIEEE TRANSACTIONS ON INDUSTRIAL INFORMATICSen_US
dc.citation.volume13en_US
dc.citation.spage607en_US
dc.citation.epage615en_US
dc.contributor.department交大名義發表zh_TW
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentNational Chiao Tung Universityen_US
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000399961500019en_US
顯示於類別:期刊論文