KR101727941B1 - Interaction training device and method, and system thereof - Google Patents

Abstract

The interactive training method according to an exemplary embodiment of the present invention includes a stimulus providing step of providing a request stimulus for requesting a user to a response behavior, a sensing step of sensing a user's response behavior to the request stimulation, A feedback stimulus generation step for generating a feedback stimulus for the reaction behavior based on the reaction behavior characteristic and a training scenario for providing training to the user based on the reaction behavior characteristic, And determining a training scenario to be determined. Here, the request stimulus includes a first request stimulus composed of at least one stimulus requesting a user's attention reaction to the robot, or a second request stimulus composed of at least one stimulus requesting the user a training response to a training scenario of the robot . ≪ / RTI >

Description

{INTERACTION TRAINING DEVICE AND METHOD, AND SYSTEM THEREOF}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an interactive training apparatus and method, and a system thereof, and more particularly to an apparatus and method for training a child's social interaction skill for cognition, movement, emotion, social psychology, And a control method.

Recent developments in cognitive science and technology have increased interest in devices that promote societal skills for children in and after school. In order to promote the social skills of the target children, these devices typically take the form of providing learning training using robots that can generate interest and interest in play training.

In the case of a device providing learning training using robots, it is possible to provide learning training to a child with relatively consistent and objectivity as compared with the subjective training method of a trainee. However, conventional devices that provide learning training using robots have only limited passive and one-dimensional feedback on the child's response, so training the child's social skills more efficiently.

Patent publication Publication 10-2009-0117377 Patent Publication No. 10-2008-0005788

Accordingly, the present invention provides an interactive training apparatus and method, and a system for providing various feedbacks and various training scenarios according to a user's reaction behavior to various request stimuli provided through a robot.

An interactive training device in accordance with an embodiment of the present disclosure includes a housing; A robot located inside or outside the housing and interacting with the user; And a controller for controlling the robot. The robot includes a stimulus provision module for providing a request stimulus for requesting a response to the user; And a sensor module for sensing a reaction behavior of the user to the request stimulus. Wherein the control unit includes: a reaction behavior feature extraction module that extracts a reaction behavior feature from the reaction behavior; A feedback stimulus determination module that determines a feedback stimulus for the reaction behavior based on the reaction behavior characteristic; And a training scenario determination module that determines, based on the reaction behavior characteristics, a training scenario for providing training to the user.

In one embodiment, the request stimulus includes a first request stimulus comprising at least one stimulus requesting the user to respond to a response to the robot, or at least one request to the user for a training response to the training scenario of the robot And a second request stimulus composed of stimuli.

In an embodiment, the stimulus providing module may provide the first request stimulus by causing the robot to appear outside from the inside of the housing when there is a call instruction to the robot.

As an embodiment, when the request stimulus is a first request stimulus, the feedback stimulus determination module may determine, based on the response behavior characteristic extracted from the response behavior for the first request stimulus, the response to the first request stimulus Determining a first feedback stimulus as the feedback stimulus when an action corresponds to an expected response behavior corresponding to the first request stimulus and determining that the response behavior to the first request stimulus is an expectation response corresponding to the first request stimulus It is possible to determine the second feedback stimulus as the feedback stimulus. In addition, the stimulus providing module may provide the first feedback stimulus or the second feedback stimulus. Here, the first feedback stimulus may be a feedback stimulus that provides compensation for the user's attention reaction, and the second feedback stimulus may be a feedback stimulus that does not provide compensation for the user's attention reaction.

In an embodiment, the first feedback stimulus includes the user's preferred stimulus, and the second feedback stimulus includes a stimulus that the user does not like.

In an embodiment, the stimulus provision module may provide the second request stimulus if the first feedback stimulus is provided. .

As an embodiment, when the request stimulus is a second request stimulus, the feedback stimulus determination module may determine, based on the response behavior characteristic extracted from the response behavior for the second request stimulus, the response to the second request stimulus Determining a third feedback stimulus as the feedback stimulus when the behavior matches the expected response behavior corresponding to the second request stimulus and determining that the response behavior to the second demand stimulus is an expectation response corresponding to the second demand stimulus It is possible to determine the fourth feedback stimulus as the feedback stimulus. In addition, the stimulus providing module may provide the third feedback stimulus or the fourth feedback stimulus. Here, the third feedback stimulus may be a feedback stimulus that provides a positive response to the user's training response, and the fourth feedback stimulus may be a feedback stimulus that provides a negative response to the user's training response.

In an embodiment, the first feedback stimulus source and the third feedback stimulus source include the same stimulus, and the second feedback stimulus source and the fourth feedback stimulus source may include the same stimulus.

In an embodiment, the training scenario determination module is configured to determine, based on a response behavior characteristic extracted from a response behavior for the first request stimulus when the first feedback stimulus is provided, The scenario can be determined.

As an embodiment, the training scenario determination module may modify the first training scenario, or modify the first training scenario as a second training scenario, based on the reaction behavior characteristics extracted from the reaction behavior for the second request stimulus Can be changed.

As an embodiment, the training scenario determination module may modify the first training scenario or change the first training scenario to a second training scenario if the fourth feedback stimulus is provided.

In an embodiment, the apparatus may further comprise a compensation unit for providing material compensation to the user. The control unit may further include a compensation providing module for providing material compensation to the user using the compensation unit when the first feedback magnetic pole or the third feedback magnetic pole is provided.

In an embodiment, the compensation providing module may cause the robot to disappear from the outside to the inside of the housing after providing the material compensation.

As an embodiment, the robot may be characterized by a shape of a character. In addition, the robot may be changeable.

A system according to one embodiment of the present disclosure may include a plurality of interactive training devices. Each of the interaction training devices includes: a housing; A robot located inside or outside the housing and interacting with the user; And a controller for controlling the robot. Here, the robot may include a stimulus provision module for providing a request stimulus for requesting a response to the user; And a sensor module for sensing a reaction behavior of the user to the request stimulus. The control unit may further include a reaction behavior feature extraction module that extracts a reaction behavior feature from the reaction behavior; A feedback stimulus determination module that determines a feedback stimulus for the reaction behavior based on the reaction behavior characteristic; And a training scenario determination module that determines, based on the reaction behavior characteristics, a training scenario for providing training to the user.

According to an embodiment of the present invention, an interactive training method includes: providing a stimulus for providing a request stimulus requesting a response to a user; A sensing step of sensing a reaction behavior of the user to the request stimulus; A reaction behavior feature extraction step of extracting a reaction behavior feature from the reaction behavior; Determining a feedback stimulus for the reaction behavior based on the response behavior characteristic; And a training scenario determination step of determining, based on the reaction behavior characteristic, a training scenario for providing training to the user. Here, the request stimulus may include at least one stimulus requesting a user a first request stimulus consisting of at least one stimulus requesting a response of interest to the robot or a training response to the user's training scenario And a second request stimulus constructed as described above.

According to the present specification, the interactive training device can easily enhance the user's social interaction ability by providing appropriate feedback on the user's response behavior to the request stimulus and the diversification of the request stimulus.

In addition, the interaction training device can improve the user sociability by providing appropriate training scenarios considering the user's reaction behavior to the user's state and stimulus.

1 is a block diagram of an interactive training apparatus according to an embodiment of the present invention.
2 is a schematic diagram showing the outline of an interactive training device according to an embodiment of the present invention;
FIG. 3A is a cross-sectional view showing an interactive training apparatus in an inactive state according to an embodiment of the present disclosure, FIG. 3B is a sectional view showing an interactive training apparatus in an active state according to an embodiment of the present disclosure, 1 is a cross-sectional view illustrating a drive mechanism of an interactive training device according to one embodiment of the specification.
4 is a diagram illustrating the shape of an exemplary robot according to one embodiment of the present disclosure.
5 is a diagram illustrating a system including a plurality of interactive training devices in accordance with one embodiment of the present disclosure.
6 is a flow chart illustrating an interactive training method in accordance with one embodiment of the present disclosure.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings and the accompanying drawings, but the scope of the claims is not limited or limited by the embodiments.

As used herein, terms used in the present specification are selected from the general terms that are currently widely used, while taking into consideration the functions, but these may vary depending on the intention or custom of the artisan or the emergence of new techniques. Also, in certain cases, there may be a term selected by the applicant at will, in which case the meaning will be described in the description part of the corresponding specification. Therefore, it is intended that the terminology used herein should be interpreted based on the meaning of the term rather than on the name of the term, and on the entire contents of the specification.

In addition, the embodiments described herein may be wholly hardware, partially hardware, partially software, or entirely software. A "unit", "module", "device", "robot" or "system" or the like in this specification refers to a computer-related entity such as hardware, a combination of hardware and software, . For example, a component, a module, a device, a robot or a system may refer to software such as an application for driving the hardware and / or the hardware constituting part or all of the platform.

Fig. 1 is a schematic diagram of an interactive training apparatus (hereinafter also referred to as " apparatus ") according to an embodiment, and Fig. 2 is a schematic diagram showing an outline of an interactive training apparatus according to an embodiment.

Referring to FIG. 1, the apparatus 100 may include a robot 110 and a control unit 120. The apparatus 100 may further include a driving unit 130, a compensation unit 140, and a storage unit 150 as an optional configuration.

2, the apparatus 100 is an optional structure and includes a button unit 160, a speaker unit 170, an array microphone unit 180, and an RF tag unit (not shown) 190), and the like. Here, the button unit 160 includes at least one button for receiving user input, and the speaker unit 170 includes at least one speaker for outputting sounds, and the array microphone 180 may include at least one And the RF tag unit 190 includes an RF tag for detecting contact of the RF card.

In this specification, the apparatus 100 refers to a device that trains a user using a robot 110 that interacts with a user. For example, the device 100 may use a character-shaped robot 110 that interacts with a user to perform actions such as a user's five senses and knowledge experience, emotional sympathy, sensory response, learning proper lifestyle habits, And social interaction activities such as expressing information. The robot 110 will be described in detail below.

In this specification, a user refers to a trainee who needs training. For example, a user may be required to develop a child with a developmental delay that is not achievable at a given age, such as a child who needs social interaction such as cognition, behavior, emotion, language, It can be a child whose social training achievement is low. In the embodiment, the apparatus 100 and the robot 110 can be manufactured through a manufacturing apparatus such as a 3D printer or the like, and can have characteristics that can be easily created by anyone.

In addition, the device 100 may be in an inactive or active state. 3A, the deactivation state is a state in which the robot 110 is positioned inside the housing of the apparatus 100 and includes a robot 110 and a device (not shown) except for detecting a user command for calling the apparatus 100. [ 100) are inactivated. 3B, the activated state is a state in which the robot 110 is located outside the housing of the apparatus 100, and the robot 110 and the apparatus 100 are activated. As an embodiment, the inactive device 100 may be brought into an active state when there is a user's call instruction to the robot 110. [ For example, the disabled device 100 may be activated when the user presses the button 160 (e.g., a robotic call button).

In this specification, the robot 110 refers to any platform in which a robot is programmed to be able to interact with a user, and is not limited to a robot having a specific shape or purpose. The robot 110 provides a stimulus to the user according to a control signal of the controller 120, and can interact with the user by sensing the reaction behavior of the user. In one embodiment, the robot 110 may be character-shaped. For example, as shown in FIG. 4, the robot 110 may be in the form of a character such as a child's favorite animal such as a rabbit 110a, a dog 110b, or a cat 100c, but is not limited thereto. In one embodiment, the robot 110 may have a plurality of joints. In this case, the robot 110 may change the posture of a specific part (for example, an arm or the like) by adjusting each joint.

The robot 110 may include a stimulus provision module 111 that provides a stimulus to a user. The stimulus providing module 111 may provide various kinds of stimuli to the user according to the control signal of the controller 120. [ In one embodiment, the stimulus provision module 111 provides at least one of visual stimulus to provide visual information, auditory stimulus to provide auditory information, and tactile stimulus to provide tactile information, via at least one output means can do. For example, the stimulus provision module 111 may provide visual stimuli through at least one visual output means (e.g., a display, a LED, or motion of the robot 110, etc.), and may include at least one auditory output means Speaker, etc.) and provide tactile stimulation through at least one tactile output means (e.g., a tactile stimulus generator, a vibration motor, etc.). The device 100 herein may request a response action to a user through provision of a request stimulus, using the stimulus provision module 111 of the robot 110, and may respond to a user's response behavior by providing feedback stimulus Feedback can be provided to the user. The description will be made in detail below.

The robot 110 may include a sensor module 112. The sensor module 112 senses various user inputs and the surrounding environment, and can transmit the sensing result to the control unit. The sensor module 112 may include at least one of non-removable sensing means that is not attached to the user's body or attached sensing means that is attached to the user's body.

As an embodiment, the non-removable sensing means may comprise at least one of a camera, a microphone (array microphone), a motion recognition sensor, a touch sensor or an illumination sensor. As an embodiment, the attachment sensing means may comprise at least one of an Electroencephalogram (EEG) sensor, an Electro Dermal Activity (EDA) sensor or a Heart rate variability (HRV) sensor. In one embodiment, the attachment sensing means can sense an electrocardiogram, an electroencephalogram, or the like, by covering the user's head or attaching a sensor to the chest. This allows the device 100 to obtain more user state information (e.g., information about the emotional state of the user). In this specification, the apparatus 100 can sense the reaction behavior of the user using the sensor module 112 of the robot 110. [ The description will be made in detail below.

In one embodiment, the robot 110 includes only sensing means (e.g., a touch sensor, an illuminance sensor, and the like) that senses a touch input of a user with respect to the robot 110 as a sensor module, (For example, array microphones) other than the robot 110 may be included in the device 100 or other external device. This makes it possible to reduce the production cost of the robot, so that the user can easily create and replace the robot without any financial burden.

In one embodiment, the robot 110 may be of a replaceable form. In this way, the device 100 can replace the user's preferred robot 110 and provide training, thereby increasing the effectiveness of training for the user. When the robot 110 is in a replaceable form, each robot 110 may include a unique ID, and the apparatus 100 may identify the ID of the robot 110 when the robot 110 is replaced And provide individual training scenarios corresponding to the IDs of the robots 110. Accordingly, the apparatus 100 can provide various training scenarios for the robots 110, thereby providing various training to the user.

The controller 120 controls each configuration of the device 100 and can manage data transmission / reception between the configurations. In one embodiment, the controller 120 may be a separate component included in the apparatus 100, rather than being included in the robot 110. In another embodiment, the control unit 120 may be a configuration included in the robot 110. [ In one embodiment, the controller 120 may include a reaction behavior feature extraction module 121, a feedback stimulus determination module 122, a training scenario determination module 123, and a compensation provision module 124. The description will be made in detail below.

The driving unit 130 may drive the movement of the robot 110 according to a control signal of the control unit 120. The driving unit 130 can move the robot 110 in the vertical and horizontal directions and rotate the robot 110 according to the control signal of the controller 120. The driving unit 130 may be included inside the housing of the apparatus 100. 3C, the driving unit 130 may move the robot 110 up and down using the linear stepping motor 131. In this case, as shown in FIG. 3C, the driving unit 130 according to another embodiment is configured to move the robot 110 in three axes (for example, roll) using a three-axis actuator 132 (e.g., a three-axis smart actuator) Pitch, and yaw directions). The driving units 130 and 120 may move the robot 110 in three axes using the three axis actuator 122 only when the robot 110 is positioned outside the apparatus 100 .

The compensation unit 140 may provide a physical compensation to the user. For example, the compensation unit 140 may provide material compensation to the user by providing the user with a preferred item (e.g., candy, chocolate, ornaments) in compensation for the training results. This allows users to participate more actively in training. This will be explained in detail in the provision and modification of training to promote social interaction skills.

The storage unit 150 may be a temporary or non-temporary recording medium. Herein, the storage unit 150 may store at least one request stimulus for requesting a user to perform a response action. In addition, the storage unit 150 may store at least one training scenario that provides training to the user.

FIG. 1 is a block diagram according to one embodiment of the present invention, wherein blocks separated and shown are logically distinguishing components of the apparatus. Therefore, the components of the above-described apparatus can be mounted as one chip or as a plurality of chips according to the design of the apparatus. Hereinafter, the control unit 120 may be described as controlling at least one configuration included in the device 100 or the device 100, and the control unit 120 and the device 100 may be equally described.

Prepare user interest and interaction training

The device 100 may use the stimulus provision module 111 of the robot 110 to provide a first request stimulus that includes at least one stimulus that prompts the user for a response of interest to the robot 110. [ For example, the first requested stimulus may include at least one of a robot appearing stimulus or a robot greeting stimulus.

Here, the robot emergence stimulus refers to a stimulus provided by the robot 110 appearing from the inside to the outside of the housing. That is, the device 100 may allow the user to be interested in the robot 110 by providing the stimulus that the robot 110 suddenly appears in the user's field of view, thereby causing the user to react to an expected response action A reaction behavior in which the name of the robot 110 is called, and a reaction behavior in which the robot 110 is touched).

As an example, the device 100 may provide a robotic appearing stimulus only if there is a user's call instruction to the robot 110. [ For example, the device 100 may provide a robotic appearing stimulus when the user presses a button 160 (e.g., a robotic call button). As another example, the device 100 may provide a robotic appearing stimulus when the user has called the robot 110 by voice. In this case, the apparatus 100 senses the position and direction of the user's utterance using the sensor module of the robot 110 or the sensor module (e.g., array microphone) of the apparatus 100, Or move the device 100 to a position adjacent to the user.

In addition, the robot greeting is a stimulus provided by the robot 110 greeting the user through at least one output means. For example, the robot greeting stimulus may be generated by the robot 110 outputting at least one of an indication of "goodbye", a voice of "goodbye" or a motion of "greeting" (eg, waving a hand or heading forward) Refers to stimulation provided. That is, the device 100 allows the user to be interested in the robot 110 by providing the stimulus that the robot 110 greets the user with pleasing greetings, thereby allowing the user to respond to an expectation response corresponding to the greeting to greet the robot 110 (E. G., A response behavior that the user also greets the robot 110).

The device 100 may sense the user's reaction behavior (hereinafter, " first response behavior ") to the first request stimulus using the sensor module of the robot 110. [ In this case, the sensed data may include at least one of a user's reaction start time, reaction duration, reaction frequency, reaction intensity, and reaction accuracy with respect to the first request stimulus.

The apparatus 100 can analyze the sensed data by using the reaction behavior feature extraction module 121 of the control unit 120 to extract a feature (hereinafter referred to as " first reaction behavior feature ") for the first reaction behavior . In one embodiment, the first response behavior feature may include user state information, or preference information for the first request stimulus, aggressiveness information, and accuracy information.

Here, the user state information refers to information on a user's emotional state and / or personality. The user's emotional state can be related to joy, joy, surprise, angry, and the user's personality can be related to extrovert / introvert, emotional / non-emotional, and so on. Also, the preference information for the first request stimulus is information about how much the user prefers the robot 110, and the affinity information for the first request stimulus indicates how much the user actively responds to the first request stimulus And the accuracy information on the first request stimulus refers to information on how accurately the user takes an expectation response behavior corresponding to the first request stimulus. In one embodiment, each piece of information included in the first reaction behavior feature can be quantified.

The device 100 may use the feedback stimulus determination module 122 of the controller 120 to determine a feedback stimulus for the user's first response behavior based on the first response behavior feature. In one embodiment, the device 100 may determine a feedback stimulus in accordance with a predetermined criteria based on at least one information included in the first response behavior feature. For example, the device 100 may determine an expected response behavior (e.g., robot 110) corresponding to a first request stimulus (e.g., a robot appearing stimulus) based on accuracy information included in the first response behavior feature The first feedback stimulus is determined as the feedback stimulus and the second feedback stimulus is determined as the feedback stimulus when the user does not take the expected response behavior corresponding to the first request stimulus. Here, the first feedback stimulus is a feedback stimulus that provides compensation for a user's response behavior, and the second feedback stimulus is a feedback stimulus that does not provide compensation for a user's response behavior. In one embodiment, the first feedback stimulus may comprise a stimulus that is different from the second feedback stimulus.

As an example, the first feedback stimulus may include a user's preferred stimulus (e.g., a stimulus associated with joy, joy, happiness, etc.). For example, the first feedback stimulus may be a stimulus providing the motion of the robot 110, such as a rotation in the roll direction, which is a user's preferred visual stimulus, or a display color of the robot 110 such as blue It can be a stimulus to provide. As another example, the first feedback stimulus may be a stimulus that provides a voice, such as " Oh good !, " which is the user's preferred auditory stimulus. As another example, the first feedback stimulus may be a stimulus that provides a soft tactile angle to the surface of the robot 110, which is a user's preferred tactile stimulus. By providing such a first feedback stimulus, the device 100 can elicit emotional rapport between the robot 110 and the user by providing a stimulus related to joy, pleasure, happiness, etc. to the user who responds accurately to the first request stimulus .

In addition, in the embodiment, when the reaction behavior of touching the robot 110 is sensed, the apparatus 100 acquires the detection time in which the touch contact is detected in the entire area of the robot 110 and the detected time of the touch contact And provide the first feedback stimulus in consideration of the obtained detection region and detection time. For example, when the detection region is a first region (e.g., the torso region) and the detection time is a first time (e.g., one second), the apparatus 100 may generate a visual stimulus ) To provide the first feedback stimulus. For example, if the detection region is a second region (e.g., a head region) and the detection time is a second time (e.g., 10 seconds), then the interactive training device 100 may be a visual stimulus To provide the display color in blue) and tactile stimulation (e. G., Provide tactile touch to the surface). This embodiment is merely an example, and the apparatus 100 of the present disclosure is not limited by these embodiments, and various modifications are possible.

As an example, the second feedback stimulus may include a stimulus that the user does not like (a stimulus associated with disappointment, sadness, etc.). For example, the second feedback stimulus may be a stimulus that provides a display color, such as motion or red, of the robot 110, such as rotation in the yaw direction, which is a visual stimulus that is not preferred by the user. As another example, the second feedback stimulus may be a stimulus that provides a voice such as " Ashamer !, " which is an auditory stimulus that is not preferred by the user. As another example, the second feedback stimulus may be a stimulus that provides a coarse tactile sense to the surface of the robot 110, which is a tactile stimulus that is not preferred by the user. By providing a second feedback stimulus, the device 100 can provide a stimulus relating to disappointment, sadness, and the like to a user who does not respond appropriately to the first request stimulus, It can stimulate psychology. In an embodiment, if a second feedback is provided, the device 100 may again provide a first request stimulus. In this case, the device 100 may again provide the robotic appearing stimulus and the robotic greeting stimulus together as a first request stimulus. In this way, the device 100 can again provide repeated training by inducing the user's interest in the robot 110 once more.

The device 100 may use the compensation unit 140 to provide material compensation to the user. In one embodiment, the apparatus 100 may provide material compensation when a first feedback stimulus is provided. In this way, the device 100 can further enhance the suspicion of user participation in training by providing the user with more compensation with feedback via feedback stimulus.

The device 100 may determine the training scenario based on the first reaction behavior feature using the training scenario determination module 123 of the control unit 120. [ Here, the training scenario refers to a scenario for providing the user with a specific training. For example, a training scenario may provide training to enhance a user's social interaction skills, such as role play training, eye-matching training, face-to-face training, card game training, specific numeric / word- Lt; / RTI > scenario. Each training scenario may include a second request stimulus in which at least one stimulus requesting a training response from a user is configured in a predetermined order. In one embodiment, the device 100 may determine a training scenario according to a predetermined criteria based on at least one piece of information included in the first reaction behavior feature. For example, the device 100 may determine the type and characteristics (e.g., training intensity, training difficulty, etc.) of training scenarios suitable for a particular user, taking into account the user's personality, emotional state, This will be described below.

Providing and modifying training to promote social interaction skills

The device 100 may use the stimulus provision module 111 of the robot 110 to provide the user with a second request stimulus included in the determined training scenario. In one embodiment, if the training scenario is card game training, the device 100 may provide a second request stimulus comprised of a stimulus sequence that prompts the user to sequentially touch the RF tags sequentially presented RF cards . For example, the device 100 may include a second request stimulus configured with a stimulus sequence (a stimulus- > b stimulus- > c stimulus) that prompts the user to touch sequentially presented a, b, Can be provided.

The apparatus 100 may sense a user's reaction behavior (hereinafter referred to as a second reaction behavior) to the second request stimulus using the sensor module of the robot 110 or the sensor module of the apparatus 100. [ In one embodiment, the sensed data may include at least one of a user's reaction start time, reaction duration, reaction frequency, reaction intensity, and reaction accuracy for each stimulus constituting the second request stimulus.

The apparatus 100 may analyze the sensed data using the response behavior feature extraction module 121 to extract a feature (hereinafter referred to as a second response behavior feature) for the second response behavior. In one embodiment, the second response behavior feature may include at least one of user state information, or preference information, aggressiveness information, and accuracy information for a second request stimulus.

Here, the preference information on the second request stimulus tells how much the user prefers the training, and the affirmative information on the second request stimulus tells how much the user is actively responding to the training , And the accuracy information on the second request stimulus is information on how accurately the user takes an expectation response behavior corresponding to each stimulus constituting the second request stimulus. In one embodiment, each piece of information included in the second response behavior feature can be quantified.

Device 100 may use feedback stimulus determination module 122 to determine a feedback stimulus for a user's second response behavior based on a second response behavior feature. In one embodiment, the apparatus 100 may determine a feedback stimulus based on at least one information included in the second response behavior feature according to a predetermined criteria. For example, based on the aggressiveness information and the accuracy information included in the second reaction behavior feature, the apparatus 100 determines the third feedback stimulus as a feedback stimulus when the value of each information is equal to or greater than a preset reference value, The feedback magnetic pole can be determined as the feedback magnetic pole. For example, the device 100 may determine that the response behavior for the second request stimulus (e.g., a stimulus) is consistent with the expected response behavior corresponding to the second request stimulus, based on the accuracy information included in the second response behavior feature (For example, a card touch), the third feedback stimulus is determined as the feedback stimulus, and the response behavior for the second request stimulus (for example, a stimulus) is inconsistent with the expected response behavior corresponding to the second request stimulus (For example, touching the b card), the fourth feedback magnetic pole may be determined as the feedback magnetic pole. In one embodiment, the third feedback stimulus may comprise a stimulus that is different from the fourth feedback stimulus.

Here, the third feedback stimulus is a feedback stimulus that provides a positive response to the user's second response behavior. For example, the third feedback magnetic pole may be a stimulus that provides the motion of the robot 110, such as a vibration in the front and back direction as a visual stimulus (e.g., a vibration that swings the head of the character robot 110 back and forth) This card is right! ". By providing a third feedback stimulus, the device 100 can train the user by providing a stimulus associated with a positive response to the user who responds correctly to the second request stimulus. According to an embodiment, the third feedback stimulus may comprise the same stimulus as the first feedback stimulus described above. That is, the interactive training device 100 may provide feedback (a third feedback stimulus) that positively responds to the user's response through feedback (first feedback stimulus) that provides the user with a preferred stimulus.

In addition, when third feedback is provided, the device 100 may provide compensation to the user via the compensation unit 140. [ For example, the device 100 may provide material compensation (e.g., candy, etc.) to the user via the compensation unit 140. In this way, the interactive training device 100 may allow a user to create a sense of intimacy with the robot 110. In one embodiment, the apparatus 100 may move the character robot 110 from the exterior to the interior of the apparatus 100 after providing compensation. That is, the character robots 110 and 110 may disappear. In another embodiment, the interactive training device 100 may provide a finishing touch to the user via the robot 110 after providing compensation, and then move the robot 110 from the exterior to the interior of the device 100 have.

Here, the fourth feedback stimulus is a feedback stimulus that provides a negative response to the user's second response behavior. For example, the fourth feedback magnetic pole is not a motion or auditory stimulus of the robot 110 such as a vibration in the left and right direction as a visual stimulus (for example, vibrating the head of the robot 110 to the left and right) &Quot;, < / RTI > By providing a fourth feedback stimulus, the device 100 can train the user by providing a stimulus associated with a negative response to a user who has not responded accurately to the operation of the robot 110. [ According to an embodiment, the fourth feedback stimulus may be the same feedback as the second feedback stimulus described above. That is, the device 100 may provide feedback (a fourth feedback stimulus) that negatively responds to the user's response through feedback (second feedback stimulus) that provides the user with an unwanted stimulus.

The device 100 may also modify the first training scenario based on the second reaction behavior feature using the training scenario determination module 123. [ In one embodiment, the device 100 modifies the first training scenario by changing the order of the stimuli constituting the second request stimulus included in the first training scenario or by repeating the specific stimulus based on the second response behavior characteristic . For example, when providing training with a stimulation sequence (a stimulus-> b stimulus-> c stimulus), the aggressiveness value for the training is high, but if the accuracy value for a particular stimulus (e.g., b stimulus) The controller 100 may modify the first training scenario to have a stimulation sequence (a stimulus -> b stimulus -> b stimulus -> c stimulus) that repeatedly requests a specific stimulus (b stimulus) with a low accuracy. In this way, the device 100 can further enhance the training effect of the user by more intensively training the deficient portion.

In addition, the device 100 may change the first training scenario to the second training scenario based on the second response behavior feature. For example, when providing a card game training, if the user's aggressiveness value for the training is very low, the device 100 may perform training with different characteristics than the corresponding training (e.g., card game training) ). ≪ / RTI > Thereby, the device 100 can induce the active participation of the user by changing the training method when the user reacts passively to the specific training.

Robot Replacement

In this specification, the robot 110 may be of a replaceable type. The apparatus 100 provides feedback to the user requesting replacement of the robot 110 when the user's preference value for the robot 110 is lower than a preset reference value based on the preference information of the first reaction behavior feature . In this case, the robot 110 can be replaced by the user's preferred robot 110, and the apparatus 100 can provide training using the replaced robot 110, thereby enhancing the effect of the training on the user have.

In addition, the apparatus 100 may obtain the ID information of the replaced robot 110, and may acquire or generate a new training scenario based on the acquired ID information. The device 100 may provide a new training scenario. Accordingly, the apparatus 100 can provide various training scenarios for the robots 110, thereby providing various training to the user.

Referring to FIG. 5, the system may include a plurality of interactive training devices 100, 200, 300. In one embodiment, each of the devices 100, 200, and 300 may include a housing, a robot positioned inside or outside the housing, for interacting with the user, and a controller for controlling the robot, The robot providing a request stimulus to the user to request a response; Wherein the controller senses a reaction behavior of the user with respect to the request stimulus, wherein the controller extracts a response behavior characteristic from the reaction behavior; Determining a feedback stimulus for the response behavior based on the extracted response behavior characteristic; And determine a training scenario for providing training to the user based on the determined reaction behavior characteristic. Since the configurations and operation characteristics of the devices 100, 200, and 300 are as described above, detailed description will be omitted.

In an embodiment, the system may include a first device 100, a second device 200, and a third device 300. As described above, each of the devices 100, 200, and 300 can provide a request stimulus to the user 10 using the robots 110, 210, and 310 and sense the reaction behavior of the user 10. In addition, each of the devices 100, 200, and 300 can extract a reaction behavior characteristic from the reaction behavior of the user 10.

In addition, the system may determine one of the plurality of interactive training devices as the main training device. In one embodiment, the system may determine one main device that provides training to the user 10 based on the reaction behavior characteristics. For example, the system may determine the device 200 including the robot 210 that the user 10 has called or touched as the main device. In one embodiment, as shown, when the second device 200 is determined to be the main device, the first device 100 and the third device 300 are connected to the user 200 via the second device 200 10). In this case, the second device 200, which is the main device, can provide training to the user 10 according to the training scenario. For example, the second device 200 may provide role play training to the user 10, and the first device 100 and the third device 300 may provide the second device 200, which is the main device in the role play training, And may serve as an assistant to assist the user 200. By providing such three-dimensional training through multiple devices, the user's social interaction skills can be more effectively promoted.

6 is a flowchart of an interactive training method according to one embodiment of the present disclosure. In the flowchart, the description of the parts overlapping with the description of FIG. 1 to FIG. 5 will be omitted.

The interaction training device may provide a request stimulus to the user to request a response action (SlO). The interactive training device may provide a request stimulus for requesting a response action to a user using a stimulus provision module of the robot. Here, the request stimulus may include a first stimulus for requesting the user to respond to the robot, A request stimulus or a second request stimulus consisting of at least one stimulus requesting the user a training response to the training scenario of the robot. In an embodiment, the interactive training device may provide a first request stimulus by causing the robot to appear externally from the interior of the housing, if there is a call command to the robot.

The interaction training device may sense the user's reaction behavior to the request stimulus (S20). The interaction training device can sense the user's reaction behavior to the request stimulus using the sensor module of the robot. In one embodiment, the sensed data may include at least one of a user's reaction start time, response duration, reaction frequency, reaction intensity, and reaction accuracy to the request stimulus.

The interaction training device can analyze the sensed data and extract characteristics (hereinafter referred to as response behavior characteristics) of the reaction behavior (S30). The interaction training device can extract reaction behavior characteristics by analyzing the sensed data using the reaction behavior feature extraction module of the control part. In one embodiment, the response behavior feature may include user state information, or preference information, aggressiveness information, and accuracy information for the request stimulus.

The interactive training device may determine a feedback stimulus for the user's reaction behavior based on the response behavior characteristic (S40). The interaction training device can determine the feedback stimulus for the user's reaction behavior based on the reaction behavior characteristic using the feedback stimulus determination module of the control section. In one embodiment, the device may determine the feedback stimulus in accordance with a predetermined criteria based on at least one information included in the response behavior feature.

The interaction training device may determine a training scenario based on the response behavior characteristic (S50). The interaction training apparatus can determine the training scenario based on the reaction behavior characteristic using the training scenario determination module of the control section. Here, the training scenario refers to a scenario for providing the user with a specific training. For example, the training scenarios may be scenarios for providing training such as role play training, eye-to-eye training, face-to-face training, card game training, specific number / crossword training, or specific posture-taking training. The interaction training device may also modify or modify the training scenarios based on the reaction behavior characteristics. That is, the interaction training device can update the training scenarios based on the response behavior characteristics.

In addition, the interaction training device can provide material compensation to the user. The interaction training device may use the compensation part to provide material compensation to the user.

Such interactive training methods may be implemented in an application or implemented in the form of program instructions that may be executed through various computer components and recorded on a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, and the like, alone or in combination. Program instructions that are recorded on a computer-readable recording medium may be those that are specially designed and constructed for the present invention and are known and available to those skilled in the art of computer software.

Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. A hardware device may be configured to operate as one or more software modules to perform processing in accordance with the present invention, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It should be understood that various modifications may be made by those skilled in the art without departing from the spirit and scope of the present invention.

In this specification, both the invention and the method invention are explained, and the description of both inventions can be supplemented as necessary.

100: Interaction training device 110: Robot
120: control unit 130:
140: compensator 150:

Claims (20)

housing; A robot located inside or outside the housing and interacting with a user; And a control unit for controlling the robot,
The robot includes:
A stimulus providing module for providing a request stimulus requesting a response to the user; And a sensor module for sensing a reaction behavior of the user to the request stimulus,
Wherein,
A reaction behavior feature extraction module for extracting a reaction behavior feature from the reaction behavior;
A feedback stimulus determination module that determines a feedback stimulus for the reaction behavior based on the reaction behavior characteristic; And
And a training scenario determination module that determines, based on the reaction behavior characteristic, a training scenario for providing training to the user,
Wherein the requesting stimulus comprises:
A second request stimulus composed of at least one stimulus requesting the user to respond to a response to the robot or at least one stimulus requesting the user a training response to the training scenario of the robot and,
The stimulus providing module includes:
And providing the first request stimulus by causing the robot to appear outside from the interior of the housing when there is a call instruction to the robot. delete delete The method according to claim 1,
If the requesting stimulus is a first request stimulus,
The feedback stimulus determination module includes:
Based on a response behavior characteristic extracted from the response behavior for the first request stimulus, a first feedback stimulus when the response behavior for the first request stimulus matches an expected response behavior corresponding to the first request stimulus And determines a second feedback stimulus as the feedback stimulus if the response behavior for the first request stimulus is not consistent with an expected response behavior corresponding to the first request stimulus,
The stimulus providing module includes:
Providing the first feedback stimulus or the second feedback stimulus,
Wherein the first feedback stimulus is a feedback stimulus that provides compensation for the user's attention response and the second feedback stimulus is a feedback stimulus that does not provide compensation for the user's attention response. 5. The method of claim 4,
Wherein the first feedback stimulus includes the user's preferred stimulus and the second feedback stimulus includes a stimulus that the user does not like. 5. The method of claim 4,
The stimulus providing module includes:
And provide the second request stimulus if the first feedback stimulus is provided. 5. The method of claim 4,
If the requesting stimulus is a second requesting stimulus,
The feedback stimulus determination module includes:
A third feedback stimulus if the response behavior for the second request stimulus matches an expected response behavior corresponding to the second request stimulus based on a response behavior feature extracted from the response behavior for the second request stimulus And determines a fourth feedback stimulus as the feedback stimulus if the response behavior to the second request stimulus is not consistent with an expected response behavior corresponding to the second demand stimulus,
The stimulus providing module includes:
Providing the third feedback stimulus or the fourth feedback stimulus,
Wherein the third feedback stimulus is a feedback stimulus that provides a positive response to the training response of the user and the fourth feedback stimulus is a feedback stimulus that provides a negative response to the training response of the user. 8. The method of claim 7,
Wherein the first feedback magnetic pole and the third feedback magnetic pole include the same magnetic poles, and the second feedback magnetic pole and the fourth feedback magnetic pole include the same magnetic poles. 8. The method of claim 7,
The training scenario determination module includes:
Determine a first training scenario for providing training to the user based on a reaction behavior feature extracted from a reaction behavior for the first request stimulus if the first feedback stimulus is provided. 10. The method of claim 9,
The training scenario determination module includes:
Modify the first training scenario or change the first training scenario to a second training scenario based on the reaction behavior characteristics extracted from the response behavior for the second request stimulus. 11. The method of claim 10,
The training scenario determination module includes:
And when the fourth feedback stimulus is provided, amending the first training scenario or changing the first training scenario to a second training scenario. 8. The method of claim 7,
The apparatus comprises:
Further comprising a compensation unit for providing material compensation to the user,
Wherein,
Further comprising a compensation providing module for providing material compensation to the user using the compensation section if the first feedback stimulus or the third feedback stimulus is provided. 13. The method of claim 12,
Wherein the compensation providing module comprises:
Thereby causing the robot to disappear from the outside of the housing to the interior after providing the material compensation. The method according to claim 1,
Characterized in that the robot is in the shape of a character. The method according to claim 1,
Characterized in that the robot is changeable. A system comprising a plurality of interactive training devices,
Each interactive training device comprising:
housing; A robot located inside or outside the housing and interacting with a user; And a control unit for controlling the robot,
The robot includes:
Providing a requesting stimulus to the user to request a response; Characterized by sensing the user's reaction behavior to the request stimulus,
Wherein,
Extracting reaction behavior features from the reaction behavior; Determining a feedback stimulus for the response behavior based on the extracted response behavior characteristic; And determine a training scenario for providing training to the user based on the determined reaction behavior characteristic,
Wherein the system determines one of the plurality of interactive training devices as a main training device. Providing a stimulus that provides a request stimulus to the user to request a response
A sensing step of sensing a reaction behavior of the user to the request stimulus;
A reaction behavior feature extraction step of extracting a reaction behavior feature from the reaction behavior;
Determining a feedback stimulus for the reaction behavior based on the response behavior characteristic; And
And a training scenario determination step of determining, based on the reaction behavior characteristic, a training scenario for providing training to the user,
Wherein the requesting stimulus comprises:
And a second request stimulus composed of at least one stimulus requesting the user a training response to the training scenario of the robot, or a first request stimulus composed of at least one stimulus requesting the user to respond to the robot, ,
The stimulus providing step may include:
And if the paging command for the robot is present, providing the first request stimulus by causing the robot to appear outside from the interior of the housing. delete 18. The method of claim 17,
Wherein the robot is a shape of a character. 18. The method of claim 17,
Characterized in that the robot is changeable.

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