{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,26]],"date-time":"2026-06-26T16:47:29Z","timestamp":1782492449698,"version":"3.54.5"},"reference-count":57,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2023,6,4]],"date-time":"2023-06-04T00:00:00Z","timestamp":1685836800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2023,6,4]],"date-time":"2023-06-04T00:00:00Z","timestamp":1685836800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100013058","name":"Jiangsu Provincial Key Research and Development Program","doi-asserted-by":"publisher","award":["o. BE2018004-4"],"award-info":[{"award-number":["o. BE2018004-4"]}],"id":[{"id":"10.13039\/501100013058","id-type":"DOI","asserted-by":"publisher"}]},{"name":"the Basic Research Project of Leading Technology of Jiangsu Province","award":["No.BK20192004"],"award-info":[{"award-number":["No.BK20192004"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2023,7]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Driven by the shortage of qualified nurses and the increasing average age of the population, the ambient assisted living style using intelligent service robots and smart home systems has become an excellent choice to free up caregiver time and energy and provide users with a sense of independence. However, users\u2019 unique environments and differences in abilities to express themselves through different interaction modalities make intention recognition and interaction between user and service system very difficult, limiting the use of these new nursing technologies. This paper presents a multimodal domestic service robot interaction system and proposes a multimodal fusion algorithm for intention recognition to deal with these problems. The impacts of short-term and long-term changes were taken into account. Implemented interaction modalities include touch, voice, myoelectricity gesture, visual gesture, and haptics. Users could freely choose one or more modalities through which to express themselves. Virtual games and virtual activities of independent living were designed for pre-training and evaluating users\u2019 abilities to use different interaction modalities in their unique environments. A domestic service robot interaction system was built, on which a set of experiments were carried out to test the system\u2019s stability and intention recognition ability in different scenarios. The experiment results show that the system is stable and effective and can adapt to different scenarios. In addition, the intention recognition rate in the experiments was 93.62%. Older adults could master the system quickly and use it to provide some assistance for their independent living.<\/jats:p>","DOI":"10.1007\/s11370-023-00466-6","type":"journal-article","created":{"date-parts":[[2023,6,4]],"date-time":"2023-06-04T12:01:35Z","timestamp":1685880095000},"page":"373-392","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["A multimodal domestic service robot interaction system for people with declined abilities to express themselves"],"prefix":"10.1007","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4666-2638","authenticated-orcid":false,"given":"Chaolong","family":"Qin","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1982-6780","authenticated-orcid":false,"given":"Aiguo","family":"Song","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Linhu","family":"Wei","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yu","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2023,6,4]]},"reference":[{"issue":"10033","key":"466_CR1","doi-asserted-by":"publisher","first-page":"2145","DOI":"10.1016\/S0140-6736(15)00516-4","volume":"387","author":"JR Beard","year":"2016","unstructured":"Beard JR, Officer A, De Carvalho IA, Sadana R, Pot AM, Michel JP, Lloyd-Sherlock P, Epping-Jordan JE, Peeters GG, Mahanani WR et al (2016) The world report on ageing and health: a policy framework for healthy ageing. Lancet 387(10033):2145\u20132154","journal-title":"Lancet"},{"issue":"5","key":"466_CR2","doi-asserted-by":"publisher","first-page":"439","DOI":"10.1016\/S1474-4422(19)30034-1","volume":"18","author":"CO Johnson","year":"2019","unstructured":"Johnson CO, Nguyen M, Roth GA, Nichols E, Alam T, Abate D, Abd-Allah F, Abdelalim A, Abraha HN, Abu-Rmeileh NM et al (2019) Global, regional, and national burden of stroke, 1990\u20132016: a systematic analysis for the global burden of disease study 2016. Lancet Neurol 18(5):439\u2013458","journal-title":"Lancet Neurol"},{"issue":"8","key":"466_CR3","doi-asserted-by":"publisher","first-page":"741","DOI":"10.1016\/S1474-4422(09)70150-4","volume":"8","author":"P Langhorne","year":"2009","unstructured":"Langhorne P, Coupar F, Pollock A (2009) Motor recovery after stroke: a systematic review. Lancet Neurol 8(8):741\u2013754","journal-title":"Lancet Neurol"},{"key":"466_CR4","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijnurstu.2020.103637","volume":"111","author":"R Fernandez","year":"2020","unstructured":"Fernandez R, Lord H, Halcomb E, Moxham L, Middleton R, Alananzeh I, Ellwood L (2020) Implications for Covid-19: a systematic review of nurses\u2019 experiences of working in acute care hospital settings during a respiratory pandemic. Int J Nurs Stud 111:103637","journal-title":"Int J Nurs Stud"},{"issue":"6","key":"466_CR5","doi-asserted-by":"publisher","first-page":"590","DOI":"10.1111\/jnu.12424","volume":"50","author":"N Maalouf","year":"2018","unstructured":"Maalouf N, Sidaoui A, Elhajj IH, Asmar D (2018) Robotics in nursing: a scoping review. J Nurs Scholarsh 50(6):590\u2013600","journal-title":"J Nurs Scholarsh"},{"issue":"5","key":"466_CR6","doi-asserted-by":"publisher","first-page":"369","DOI":"10.1080\/10447318.2013.873278","volume":"30","author":"R Kachouie","year":"2014","unstructured":"Kachouie R, Sedighadeli S, Khosla R, Chu MT (2014) Socially assistive robots in elderly care: a mixed-method systematic literature review. Int J Hum-Comput Interact 30(5):369\u2013393","journal-title":"Int J Hum-Comput Interact"},{"issue":"2","key":"466_CR7","doi-asserted-by":"publisher","first-page":"317","DOI":"10.1007\/s12369-018-0492-5","volume":"11","author":"D Portugal","year":"2019","unstructured":"Portugal D, Alvito P, Christodoulou E, Samaras G, Dias J (2019) A study on the deployment of a service robot in an elderly care center. Int J Soc Robot 11(2):317\u2013341","journal-title":"Int J Soc Robot"},{"issue":"4","key":"466_CR8","doi-asserted-by":"publisher","first-page":"575","DOI":"10.1007\/s12369-014-0242-2","volume":"6","author":"H Robinson","year":"2014","unstructured":"Robinson H, MacDonald B, Broadbent E (2014) The role of healthcare robots for older people at home: a review. Int J Soc Robot 6(4):575\u2013591","journal-title":"Int J Soc Robot"},{"key":"466_CR9","doi-asserted-by":"publisher","DOI":"10.1016\/j.archger.2019.103996","volume":"87","author":"C Werner","year":"2020","unstructured":"Werner C, Kardaris N, Koutras P, Zlatintsi A, Maragos P, Bauer JM, Hauer K (2020) Improving gesture-based interaction between an assistive bathing robot and older adults via user training on the gestural commands. Arch Gerontol Geriatr 87:103996","journal-title":"Arch Gerontol Geriatr"},{"key":"466_CR10","doi-asserted-by":"publisher","first-page":"369","DOI":"10.3389\/fnagi.2018.00369","volume":"10","author":"D Beltrami","year":"2018","unstructured":"Beltrami D, Gagliardi G, Rossini Favretti R, Ghidoni E, Tamburini F, Calz\u00e0 L (2018) Speech analysis by natural language processing techniques: a possible tool for very early detection of cognitive decline? Front Aging Neurosci 10:369","journal-title":"Front Aging Neurosci"},{"key":"466_CR11","doi-asserted-by":"crossref","unstructured":"Liu J, Li Y, Lin M (2019) Review of intent detection methods in the human-machine dialogue system. In: Journal of physics: conference series, vol 1267. IOP Publishing, p 012059","DOI":"10.1088\/1742-6596\/1267\/1\/012059"},{"issue":"10","key":"466_CR12","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0221854","volume":"14","author":"AS Kapusta","year":"2019","unstructured":"Kapusta AS, Grice PM, Clever HM, Chitalia Y, Park D, Kemp CC (2019) A system for bedside assistance that integrates a robotic bed and a mobile manipulator. PLoS ONE 14(10):e0221854","journal-title":"PLoS ONE"},{"key":"466_CR13","doi-asserted-by":"crossref","unstructured":"Yu GE, Hong ST, Sung KY Seo JH(2017) A study on the risk investigation and safety of personal care robots. In: 2017 17th international conference on control, automation and systems (ICCAS). IEEE, pp 904\u2013908","DOI":"10.23919\/ICCAS.2017.8204353"},{"issue":"1","key":"466_CR14","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1007\/s12369-015-0325-8","volume":"8","author":"T Lorenz","year":"2016","unstructured":"Lorenz T, Weiss A, Hirche S (2016) Synchrony and reciprocity: key mechanisms for social companion robots in therapy and care. Int J Soc Robot 8(1):125\u2013143","journal-title":"Int J Soc Robot"},{"key":"466_CR15","doi-asserted-by":"crossref","unstructured":"Evans JM (1994) Helpmate: an autonomous mobile robot courier for hospitals. In: Proceedings of IEEE\/RSJ international conference on intelligent robots and systems (IROS\u201994), vol\u00a03. IEEE, pp 1695\u20131700","DOI":"10.1109\/IROS.1994.407629"},{"issue":"3","key":"466_CR16","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0212904","volume":"14","author":"PM Grice","year":"2019","unstructured":"Grice PM, Kemp CC (2019) In-home and remote use of robotic body surrogates by people with profound motor deficits. PLoS ONE 14(3):e0212904","journal-title":"PLoS ONE"},{"key":"466_CR17","doi-asserted-by":"crossref","unstructured":"Iwata H, Sugano S (2009) Design of human symbiotic robot TWENDY-ONE. In: 2009 IEEE international conference on robotics and automation. IEEE, pp 580\u2013586","DOI":"10.1109\/ROBOT.2009.5152702"},{"issue":"3","key":"466_CR18","doi-asserted-by":"publisher","first-page":"40","DOI":"10.1109\/MRA.2018.2833157","volume":"25","author":"AK Pandey","year":"2018","unstructured":"Pandey AK, Gelin R (2018) A mass-produced sociable humanoid robot: pepper: the first machine of its kind. IEEE Robot Autom Mag 25(3):40\u201348","journal-title":"IEEE Robot Autom Mag"},{"key":"466_CR19","doi-asserted-by":"publisher","unstructured":"Lu D, Zhang S, Stone P, Chen X (2017) Leveraging commonsense reasoning and multimodal perception for robot spoken dialog systems. In: 2017 IEEE\/RSJ international conference on intelligent robots and systems (IROS), pp 6582\u20136588. https:\/\/doi.org\/10.1109\/IROS.2017.8206570","DOI":"10.1109\/IROS.2017.8206570"},{"key":"466_CR20","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/852937","volume":"6","author":"Z Yu","year":"2014","unstructured":"Yu Z, Huang Q, Ma G, Chen X, Zhang W, Li J, Gao J (2014) Design and development of the humanoid robot BHR-5. Adv Mech Eng 6:852937","journal-title":"Adv Mech Eng"},{"key":"466_CR21","doi-asserted-by":"crossref","unstructured":"Wang Y, Xiong R, Zhu Q, Chu J (2014) Compliance control for standing maintenance of humanoid robots under unknown external disturbances. In: 2014 IEEE international conference on robotics and automation (ICRA). IEEE, pp 2297\u20132304","DOI":"10.1109\/ICRA.2014.6907177"},{"key":"466_CR22","doi-asserted-by":"crossref","unstructured":"Graf B, Reiser U, H\u00e4gele M, Mauz K, Klein P (2009) Robotic home assistant care-o-bot\u00ae 3-product vision and innovation platform. In: 2009 IEEE workshop on advanced robotics and its social impacts. IEEE, pp 139\u2013144","DOI":"10.1109\/ARSO.2009.5587059"},{"key":"466_CR23","doi-asserted-by":"crossref","unstructured":"Coradeschi S, Cesta A, Cortellessa G, Coraci L, Galindo C, Gonzalez J, Karlsson L, Forsberg A, Frennert S, Furfari F et al (2014) Giraffplus: a system for monitoring activities and physiological parameters and promoting social interaction for elderly. In: Human\u2013computer systems interaction: backgrounds and applications, vol 3. Springer, pp 261\u2013271","DOI":"10.1007\/978-3-319-08491-6_22"},{"issue":"11","key":"466_CR24","doi-asserted-by":"publisher","first-page":"2496","DOI":"10.3390\/s17112496","volume":"17","author":"S Majumder","year":"2017","unstructured":"Majumder S, Aghayi E, Noferesti M, Memarzadeh-Tehran H, Mondal T, Pang Z, Deen MJ (2017) Smart homes for elderly healthcare\u2013recent advances and research challenges. Sensors 17(11):2496","journal-title":"Sensors"},{"issue":"1","key":"466_CR25","doi-asserted-by":"publisher","first-page":"227","DOI":"10.1016\/j.mechatronics.2010.10.011","volume":"21","author":"KH Seo","year":"2011","unstructured":"Seo KH, Choi TY, Oh C (2011) Development of a robotic system for the bed-ridden. Mechatronics 21(1):227\u2013238","journal-title":"Mechatronics"},{"issue":"2","key":"466_CR26","doi-asserted-by":"publisher","first-page":"183","DOI":"10.1007\/s10514-006-9012-9","volume":"22","author":"KH Park","year":"2007","unstructured":"Park KH, Bien Z, Lee JJ, Kim BK, Lim JT, Kim JO, Lee H, Stefanov DH, Kim DJ, Jung JW et al (2007) Robotic smart house to assist people with movement disabilities. Auton Robot 22(2):183\u2013198","journal-title":"Auton Robot"},{"key":"466_CR27","doi-asserted-by":"publisher","first-page":"74","DOI":"10.1016\/j.robot.2017.12.008","volume":"101","author":"HM Do","year":"2018","unstructured":"Do HM, Pham M, Sheng W, Yang D, Liu M (2018) Rish: a robot-integrated smart home for elderly care. Robot Auton Syst 101:74\u201392","journal-title":"Robot Auton Syst"},{"issue":"1","key":"466_CR28","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1017\/S0263574714000010","volume":"33","author":"A Poncela","year":"2015","unstructured":"Poncela A, Gallardo-Estrella L (2015) Command-based voice teleoperation of a mobile robot via a human\u2013robot interface. Robotica 33(1):1","journal-title":"Robotica"},{"issue":"2","key":"466_CR29","doi-asserted-by":"publisher","first-page":"607","DOI":"10.1109\/TII.2016.2625818","volume":"13","author":"K Zinchenko","year":"2016","unstructured":"Zinchenko K, Wu CY, Song KT (2016) A study on speech recognition control for a surgical robot. IEEE Trans Ind Inform 13(2):607\u2013615","journal-title":"IEEE Trans Ind Inform"},{"issue":"1","key":"466_CR30","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10462-012-9356-9","volume":"43","author":"SS Rautaray","year":"2015","unstructured":"Rautaray SS, Agrawal A (2015) Vision based hand gesture recognition for human computer interaction: a survey. Artif Intell Rev 43(1):1\u201354","journal-title":"Artif Intell Rev"},{"key":"466_CR31","doi-asserted-by":"crossref","unstructured":"Hu X, Zeng H, Chen D, Zhu J, Song A (2020) Real-time continuous hand motion myoelectric decoding by automated data labeling. In: 2020 IEEE international conference on robotics and automation (ICRA). IEEE, pp 6951\u20136957","DOI":"10.1109\/ICRA40945.2020.9197286"},{"issue":"3","key":"466_CR32","doi-asserted-by":"publisher","first-page":"569","DOI":"10.1109\/TSMCA.2010.2093883","volume":"41","author":"C Zhu","year":"2011","unstructured":"Zhu C, Sheng W (2011) Wearable sensor-based hand gesture and daily activity recognition for robot-assisted living. IEEE Trans Syst Man Cybern Part A-Syst Hum 41(3):569\u2013573","journal-title":"IEEE Trans Syst Man Cybern Part A-Syst Hum"},{"issue":"4","key":"466_CR33","doi-asserted-by":"publisher","first-page":"1597","DOI":"10.1109\/TMECH.2019.2916099","volume":"24","author":"D Chen","year":"2019","unstructured":"Chen D, Song A, Tian L, Ouyang Q, Xiong P (2019) Development of a multidirectional controlled small-scale spherical MR actuator for haptic applications. IEEE-ASME Trans Mechatron 24(4):1597\u20131607","journal-title":"IEEE-ASME Trans Mechatron"},{"issue":"4","key":"466_CR34","doi-asserted-by":"publisher","first-page":"467","DOI":"10.1109\/TOH.2014.2359007","volume":"7","author":"D Wang","year":"2014","unstructured":"Wang D, Zhang Y, Yang X, Yang G, Yang Y (2014) Force control tasks with pure haptic feedback promote short-term focused attention. IEEE Trans Haptics 7(4):467\u2013476","journal-title":"IEEE Trans Haptics"},{"key":"466_CR35","doi-asserted-by":"crossref","unstructured":"Luo RC, Wu Y, Lin P (2015) Multimodal information fusion for human-robot interaction. In: 2015 IEEE 10th jubilee international symposium on applied computational intelligence and informatics. IEEE, pp 535\u2013540","DOI":"10.1109\/SACI.2015.7208262"},{"issue":"1","key":"466_CR36","doi-asserted-by":"publisher","first-page":"38","DOI":"10.1109\/TAFFC.2016.2593719","volume":"9","author":"J Chen","year":"2016","unstructured":"Chen J, Chen Z, Chi Z, Fu H (2016) Facial expression recognition in video with multiple feature fusion. IEEE Trans Affect Comput 9(1):38\u201350","journal-title":"IEEE Trans Affect Comput"},{"key":"466_CR37","doi-asserted-by":"crossref","unstructured":"Luo RC, Hsu YT, Ye HJ (2019) Multi-modal human-aware image caption system for intelligent service robotics applications. In: 2019 IEEE 28th international symposium on industrial electronics (ISIE). IEEE, pp 1180\u20131185","DOI":"10.1109\/ISIE.2019.8781144"},{"key":"466_CR38","doi-asserted-by":"crossref","unstructured":"Gaschler A, Jentzsch S, Giuliani M, Huth K, de\u00a0Ruiter J, Knoll A (2012) Social behavior recognition using body posture and head pose for human-robot interaction. In: 2012 IEEE\/RSJ international conference on intelligent robots and systems. IEEE, pp 2128\u20132133","DOI":"10.1109\/IROS.2012.6385460"},{"key":"466_CR39","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10489-022-03288-8","volume":"52","author":"J Tian","year":"2022","unstructured":"Tian J, Tu Z, Li N, Su T, Xu X, Wang Z (2022) Intention model based multi-round dialogue strategies for conversational AI bots. Appl Intell 52:1\u201325","journal-title":"Appl Intell"},{"key":"466_CR40","doi-asserted-by":"publisher","first-page":"241","DOI":"10.1016\/j.inffus.2021.11.006","volume":"80","author":"S Qiu","year":"2022","unstructured":"Qiu S, Zhao H, Jiang N, Wang Z, Liu L, An Y, Zhao H, Miao X, Liu R, Fortino G (2022) Multi-sensor information fusion based on machine learning for real applications in human activity recognition: state-of-the-art and research challenges. Inf Fusion 80:241\u2013265","journal-title":"Inf Fusion"},{"issue":"1","key":"466_CR41","doi-asserted-by":"publisher","first-page":"28","DOI":"10.1016\/j.inffus.2011.08.001","volume":"14","author":"B Khaleghi","year":"2013","unstructured":"Khaleghi B, Khamis A, Karray FO, Razavi SN (2013) Multisensor data fusion: a review of the state-of-the-art. Inf Fusion 14(1):28\u201344","journal-title":"Inf Fusion"},{"issue":"1","key":"466_CR42","doi-asserted-by":"publisher","first-page":"83","DOI":"10.1177\/0278364904049250","volume":"24","author":"S Iba","year":"2005","unstructured":"Iba S, Paredis CJ, Khosla PK (2005) Interactive multimodal robot programming. Int J Robot Res 24(1):83\u2013104","journal-title":"Int J Robot Res"},{"key":"466_CR43","doi-asserted-by":"crossref","unstructured":"Medjahed H, Istrate D, Boudy J, Baldinger JL, Dorizzi B (2011) A pervasive multi-sensor data fusion for smart home healthcare monitoring. In: 2011 IEEE international conference on fuzzy systems (FUZZ-IEEE 2011). IEEE, pp 1466\u20131473","DOI":"10.1109\/FUZZY.2011.6007636"},{"issue":"13","key":"466_CR44","doi-asserted-by":"publisher","first-page":"7265","DOI":"10.1109\/JSEN.2020.2978772","volume":"20","author":"Q Teng","year":"2020","unstructured":"Teng Q, Wang K, Zhang L, He J (2020) The layer-wise training convolutional neural networks using local loss for sensor-based human activity recognition. IEEE Sens J 20(13):7265\u20137274","journal-title":"IEEE Sens J"},{"issue":"3","key":"466_CR45","doi-asserted-by":"publisher","first-page":"569","DOI":"10.1109\/TSMCA.2010.2093883","volume":"41","author":"C Zhu","year":"2011","unstructured":"Zhu C, Sheng W (2011) Wearable sensor-based hand gesture and daily activity recognition for robot-assisted living. IEEE Trans Syst Man Cybern Part A-Syst Hum 41(3):569\u2013573","journal-title":"IEEE Trans Syst Man Cybern Part A-Syst Hum"},{"key":"466_CR46","doi-asserted-by":"crossref","unstructured":"Liu YT, Pal NR, Marathe AR, Lin CT (2017) Weighted fuzzy dempster-shafer framework for multimodal information integration. IEEE Trans Fuzzy Syst 26(1):338\u2013352","DOI":"10.1109\/TFUZZ.2017.2659764"},{"issue":"3","key":"466_CR47","doi-asserted-by":"publisher","first-page":"7558","DOI":"10.1109\/LRA.2022.3182100","volume":"7","author":"S Trick","year":"2022","unstructured":"Trick S, Herbert F, Rothkopf CA, Koert D (2022) Interactive reinforcement learning with Bayesian fusion of multimodal advice. IEEE Robot Automat Lett 7(3):7558\u20137565","journal-title":"IEEE Robot Automat Lett"},{"key":"466_CR48","doi-asserted-by":"crossref","unstructured":"Whitney D, Eldon M, Oberlin J, Tellex S (2016) Interpreting multimodal referring expressions in real time. In: 2016 IEEE international conference on robotics and automation (ICRA). IEEE, pp 3331\u20133338","DOI":"10.1109\/ICRA.2016.7487507"},{"key":"466_CR49","unstructured":"Aiguo S, Chaolong Q, Jiahang Z, Linhu W, Zhao Y, Li H, Baoguo X (2022) Care robot controller. US Patent 11478937"},{"issue":"3","key":"466_CR50","first-page":"530","volume":"38","author":"C Qin","year":"2017","unstructured":"Qin C, Song A, Wu C, Liu Y, Jiang G (2017) Scenario interaction system of rehabilitation training robot based on unity3d and kinect. Chin J Sci Instrum 38(3):530\u2013536","journal-title":"Chin J Sci Instrum"},{"issue":"2","key":"466_CR51","doi-asserted-by":"publisher","first-page":"2931","DOI":"10.1007\/s11042-020-09750-4","volume":"80","author":"V Gupta","year":"2021","unstructured":"Gupta V, Khera S, Turk N (2021) MQTT protocol employing IOT based home safety system with ABE encryption. Multimed Tools Appl 80(2):2931\u20132949","journal-title":"Multimed Tools Appl"},{"issue":"2","key":"466_CR52","doi-asserted-by":"publisher","first-page":"195","DOI":"10.1007\/s12369-013-0217-8","volume":"6","author":"DO Johnson","year":"2014","unstructured":"Johnson DO, Cuijpers RH, Juola JF, Torta E, Simonov M, Frisiello A, Bazzani M, Yan W, Weber C, Wermter S et al (2014) Socially assistive robots: a comprehensive approach to extending independent living. Int J Soc Robot 6(2):195\u2013211","journal-title":"Int J Soc Robot"},{"key":"466_CR53","doi-asserted-by":"publisher","first-page":"30","DOI":"10.1109\/MRA.2012.2229950","volume":"20","author":"TL Chen","year":"2013","unstructured":"Chen TL, Ciocarlie M, Cousins S, Grice PM, Hawkins K (2013) Robots for humanity: using assistive robotics to empower people with disabilities. IEEE Robot Autom Mag 20:30\u201339","journal-title":"IEEE Robot Autom Mag"},{"key":"466_CR54","doi-asserted-by":"crossref","unstructured":"Wang X, Song P, Li L (2020) Research and application of intelligent voice food ordering system. In: 2020 8th international conference on orange technology (ICOT). IEEE, pp 1\u20133","DOI":"10.1109\/ICOT51877.2020.9468724"},{"key":"466_CR55","unstructured":"Zhang F, Bazarevsky V, Vakunov A, Tkachenka A, Sung G, Chang CL, Grundmann M (2020) Mediapipe hands: on-device real-time hand tracking. arXiv:2006.10214"},{"key":"466_CR56","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2020.107680","volume":"110","author":"P Li","year":"2021","unstructured":"Li P, Li X, Li X, Pan H, Khyam MO, Noor-A-Rahim M, Ge SS (2021) Place perception from the fusion of different image representation. Pattern Recognit 110:107680","journal-title":"Pattern Recognit"},{"key":"466_CR57","doi-asserted-by":"publisher","first-page":"319","DOI":"10.2307\/249008","volume":"13","author":"FD Davis","year":"1989","unstructured":"Davis FD (1989) Perceived usefulness, perceived ease of use, and user acceptance of information technology. MIS Q 13:319\u2013340","journal-title":"MIS Q"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-023-00466-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11370-023-00466-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-023-00466-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,6,28]],"date-time":"2023-06-28T12:55:22Z","timestamp":1687956922000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11370-023-00466-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,6,4]]},"references-count":57,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2023,7]]}},"alternative-id":["466"],"URL":"https:\/\/doi.org\/10.1007\/s11370-023-00466-6","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"value":"1861-2776","type":"print"},{"value":"1861-2784","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,6,4]]},"assertion":[{"value":"25 August 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"8 May 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"4 June 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declaration"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"All the experiments were approved by the Ethical Committee of Southeast University and conformed to the Declaration of Helsinki.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}},{"value":"All participants were provided with information about the purpose, procedure, and potential risks of the experiments. The informed consent form was obtained from all the participated subjects.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}}]}}