In this study we propose a "hand gesture + face expression" human machine interaction technique, and apply this technique to bedridden rehabilitation robot. "Hand gesture + Facial expression" interactive technology combines the input mode of gesture and facial expression perception. It involves seven basic facial expressions that can be used to determine a target selecting task, while hand gestures are used to control a cursor's location. A controlled experiment was designed and conducted to evaluate the effectiveness of the proposed hybrid technology. A series of target selecting tasks with different target widths and layouts were designed to examine the recognition accuracy of hybrid control gestures. An interactive experiment applied to a rehabilitation robot is designed to verify the feasibility of this interactive technology applied to rehabilitation robots. The experimental results show that the "hand + facial expression" interactive gesture has strong robustness, which can provide a novel guideline for designing applications in VR interfaces, and it can be applied to the rehabilitation robots.
Keywords: facial expression; hybrid control gestures; interactive tasks; rehabilitation robot; target selection.