The mutual Move Shi Zhao Nursing Machine device people of the bright Ti Gong mono- Seed tool avoidances of this Hair and Li Gan Decision plans, Qi Zhu Yaos Let Shang Department Jia Body and sets and control Wheels Turn Move by Move Ma Da, holding force Yi are held with grip Gan Measuring Qi Surveillance Measuring users again Ji the fronts Measuring Ju Gan Measuring Qi Surveillance Measuring Zhang Hinder objects, by Move Ma Da And can anti-mono- counterforce values Tou Over counterforce values of Pass and user hold one of holding force control News No., it can deduce users meaning Fig. mono- step control Machine device people Move of Jin make and the Inter of row Jin, News No. can be kept away away from a Flash of sense Measuring devices with Measuring with benefit control Machine devices peoples avoidance processedBe Yi , Indeed protect user have independence move Move abilities , Ji Machine Training Practice Qi ?Move Association Tone, in addition, more make Move power Bu Compensation Machine systems in a manner of the Yi Fig. Gan Measuring, Let user Ke Yi Light Pine operations.本發明提供一種具避障以及力感決策之互動式照護機器人,其主要係在架體上設置被動馬達控制輪子轉動,再以握力感測器偵測使用者手握持力,以及測距感測器偵測前方障礙物,被動馬達並可以反傳一反作用力值,透過反作用力值以及使用者手握持力之一控制訊號,可以推知使用者意圖,進一步控制機器人動作,且行進之間,可以利用測距感測器之一閃避訊號控制機器人避障;是以,確保使用者有自主性移動能力,藉機訓練其運動協調,此外,更以意圖感測之方式作動力補償機制,讓使用者可以輕鬆操作。
