HMMCF:A human-computer collaboration algorithm based on multimodal intention of reverse active fusion

This paper proposes a fusion model of an improved Hidden Markov Model (HMM) and an improved CF trust evaluation algorithm, and a human-computer collaboration mechanism embedded in the X-arm manipulator. It can correctly predict user intentions of interaction, correct erroneous intentions, and carry out human-computer collaboration under the user's multimodal fuzzy expression or wrong expression, and finally complete the intention task. It can correctly predict the user interactive intentions, correct the wrong intention, and carry out human-computer collaboration in the case of user multimodal fuzzy expression or wrong expression. The main contributions of this paper are: when humans input intentions to robots, users no longer interact strictly through discrete and explicit interactive operations, but can use non-deterministic and unclear multimodal data to express interactive intentions; When the model predicts user's intentions, it comprehensively considers modal information such as user's voice, gesture, posture, and extracts the user's intention from the user's daily habits and the context of the interactive environment. The process of trust evaluation, reverse analysis, and active acquisition of necessary information on the user's intention determines whether the intention is feasible, and then analyzes the intention through the human-computer collaboration mechanism, reasonably assigns the tasks that the human and the computer need to complete. Finally, human and computer cooperate together to achieve the user's intention. The algorithm proposed in this paper can be considered as a new method of intention understanding in human-computer interaction and a research of exploring the computational principle of natural interaction. The algorithm proposed in this paper has been verified in many daily life scenarios such as helping the elderly to drink water, take medicine, read, watch TV and so on, and it has also proposed a valuable research path for the challenging problem of human-computer interaction.