Low-Cost Open Source Ventilator or PAPR

Related tags

CLI Tools ventilator
Overview

Last updated 2020/04/19

Full System

Low-Cost Open-Source Ventilator-ish Device or PAPR

NOTE: This is currently an independent project not affiliated with any commercial institution.

  • In the event that COVID-19 hospitalizations exhaust the availability of FDA approved ventilators. This project documents the process of converting a low-cost CPAP (Continuous Positive Airway Pressure) blower into a rudimentary non-invasive pressure support ventilator that could help with breathing during respiratory distress. It's an evolving project, but in it's current form, it most aligned with the definition of a non-invasive pressure support BiPAP ventilator.
  • This same project can also be used to create a reasonable low-cost Powered Air Purifying Respirator (PAPR) with filter adapter and mask. PAPRs are effective pieces of Personal Protective Equipment (PPE) that could be helpful to caregivers. PAPRs will also be in extremely short supply and are much less risky and controversial than a DIY ventilator. You may be able to save many more lives by building a PAPR that protects a caregiver than a mediocre ventilator for one patient. Unless you are able to participate in the detailed engineering and medical discussions regarding mitigating the risks of high pressure ventilation, I would highly recommend focusing on the PAPR version of this build.

WARNING/DISCLAIMER: Whenever possible, please seek professional medical care with proper equipment setup by trained individuals. Do not use random information you found on the internet. I am not a medical professional, just a random person putting information on the internet. There are significant risks associated with using a high pressure BiPAP as a DIY ventilator without medical supervision.

What are the primary risks of a DIY ventilator?

  • Being viewed as a viable alternative to available professional care or delaying seeking professional care. This should be viewed as an educational resource or a last resort option only. Community driven engineering efforts like this run the risk of making it "too easy to be harmful" which would be a bad outcome.
  • Using non-invasive interfaces (such as masks and mouth pieces) can create aerosolized virus infecting many others in clean environments. Infecing yourself or other healthy individuals multiplies the problem. Usage should be restricted to places where aerosolized viruses are already abundant (lots of unmasked symptomatic individuals), COVID wards, or in isolation. NOTE: Self-quarantine in an apartment or multi-unit residence is NOT proper isolation due to potential shared ventilation and sewage.
  • Giving too high a pressure (such as 20cmh2o and up) without observing lung compliance can cause rupture of infected lung tissue. This design currently lacks several features that provide enough feedback to a caregiver to monitor that risk.
  • See more detailed discussion of these risks and potential engineering/administrative controls to address them.

Too risky? Build a low-cost PAPR!

One more time, a low-cost Powered Air Purifying Respirator (PAPR) is highly valuable for caregivers, and may have much more positive impact than bulding a mediocre ventilator.

Want to build something without electronics? Consider building PPE

Hardware Requirements and Medical/Government Request for proposals:

Current Hardware Capabilities

  • This rudimentary design can have a programmable breathing rate (ex: 10-16/min)
  • It can have a programmed Positive End-Expiratory Pressure (PEEP)
  • The blower is physicially able to hit a peak airway pressure of up to 45cmh2o. However, going above 20cmh2o can be DANGEROUS.
  • It cannot yet hit a target tidal volume. What level of accuracy in volume would be sufficient? 100mL? 10mL?
  • It does not regulate fractional oxygen (FiO2). But, a down stream connection to an O2 tank is possible to boost O2 concentration with manual flow adjustment. I could use a pointer to a low cost O2 sensor.
  • It is lacking in many other ways, but it is possible that this limited functionality could be helpful when better care is not available. It is also a starting point for making progress. Critical features can be added over time.

Here's a youtube video walking through the components as of 2020/03/17: Youtube video

There are also many other efforts in this direction. Here's a short list of them Thanks! discussion

To Do's - aka Things I could use help with

I've moved the To Do's to a Wiki so it is easier to update. Please check there if you are interested in helping. Thanks to those that already have!

To provide comments/feedback/offer help, create a new issue on the project. Thanks!

Useful References/Docs about the supply shortages, and guidance around unapproved devices:

There is a growing list of useful documents around guidance for use of unapproved equipment, and information around estimated shortages of both ventilators and personal protective equipment. We have moved them to References Wiki to enable better updates to make it easier to maintain.

Materials

  1. Continuous Positive Airway Pressure (CPAP) devices are commonly used by individuals to treat sleep apnea. As a result, CPAP blower components are fairly abundant. Used ones are available on eBay and new ones on Alibaba. In many of these devices, the blower is a simple BLDC motor that can be driven with an Electronics Speed Controller (ESC) used by quadrotors and RC cars. The one I used is pulled from a Respironics REMStar. In volume, these blower components can be under $20.
  1. Arduino Compatible Nano/Clone to control the motor speed, breathing cycles, and handle user input. Download the Arduino IDE to program the microcontroller software.

  2. Brushless DC Motor Electronic Speed Controller capable of at least 10A.

  3. Button or switch for input control. The code cycles through 5 levels of pressure. Double click to switch between CPAP and BiPAP/Fixed PEEP mode.

  4. 12v DC power supply that can handle at least 5A. The blower works pretty hard, and the breathing cycles can create voltage drops which will reset the Arduino if the supply is not strong enough.

  5. Tubing and face mask. If you search for CPAP face mask, you'll find many options/suppliers. A full face mask that covers both the mouth and nose will enable pressure buildup in the lungs. As an alternative, see below for draft 3D printable parts.

  6. Optional inline 12v battery backup.

Building

This is the full system with mask, tubing, pump, 12v battery, and switch for input. However, I would strongly recommend running this with a DC power supply since the battery will only last about 3-4 hours. Wearing the mask with a dead battery could cause dangerous CO2 build up. This particular battery can charge and supply power at the same time, acting as an inline battery backup to wall power.

Full System

Below is a close up of the extracted blower. It is simply a BLDC motor driving a blower fan. A small ESC and Arduino are attached (technically a Teensy2.0++, but the code has now been changed to an Arduino Nano). It has a 3d printed tapered hose adpater on it to fit in the hose. The microcontroller software can be programmed with the Arduino IDE. The software goes through a short initialization sequence to configure the ESC; it then starts at the lowest CPAP setting. You can use the switch to cycle through pressure levels, and double click to cycle through operating modes.

Extracted CPAP Blower

Here is the schematic for the electronics. As you can see, it is very simple with only a few parts. A slightly modifed version that is able to sense the blower current is here. schematic

Face mask / Tube Adapter

Since I have a CPAP, I happen to have a Resmed AitFit F20 mask that I can use. This is quite comfortable and covers both the nose and mouth to make a good seal. However, if you can't get a mask, below is a prototype mouthguard that fits in the category of not-so-great-but-usable-if-you-have-a-lot-of-tape. I am using some elastic straps as head gear. However, in order to get a good air seal to get enough positive pressure, this would require some tape. A little bit of leakage is actually desirable to allow CO2 to escape near the mouth and nose to flush out the air over time; this prevents CO2 from being stuck in the tube. WARNING: wearing this sealed to the mouth with tape without power may cause dangerous CO2 build up.

Download the [3D model] [Fusion 360 link].

Mouth Guard Mouth Guard model

Pressure Testing

This is a picture of my test rig to measure the output pressure. It is a U-shaped tube with an attached measuring tape to check displacement of water. The actual liquid displacement is 2x the measured line since liquid is being pushed downwards an equal amount on the other side of the U, doubling the displacement. (I think this is the correct way to measure). At full blast at 12v, it is achieving 45cmh2o. WARNING: Going above 20cmh2o can be DANGEROUS. So, these blowers are plently powerful.

Pressure measurement fixture

Here are some images showing the dislacement of the liquid at different speeds. I happen to have Diet Dr. Pepper on hand which makes it easier to see the liquid level rather than just plain water.

3cm 6cm 11cm 22.5cm

Here's a video of the blower pushing a breathing cycle of 16 cycles/min oscilating between 12 and 22cmh2o.

Air Filtration - PAPR Option

An open air blower into someone's airway isn't great. If possible, some filtration is preferred. These parts were originally used for a DIY Powered Air Purifying Respriator (PAPR). However, adding a filter will definitely affect the output pressure. It will depend on the blower you have if the motor can handle the additional load. Given the headroom of the blower I tested, these CPAP blowers can probably handle the filter and still hit the target pressure. However, I haven't done long term thermal testing at high pressure and with a strong filter. These adapter plates can be attached with liberal amounts of hot glue and wrapping the unit in vinyl tape to get a reasonably airtight seal. My blower's enclosure was not air-tight, so it is difficult to guarantee that 100% of the air is coming only through the filter. Setting the blower to a low CPAP pressure, and leaving the face mask vent holes open will allow it to function reasonably as a PAPR.

3M Apart 3M attached

NATO Apart NATO attached

Update Log

Click here to see updates.

Comments
  • EUREKA! We discovered the at-home treatment for coronavirus that works! PLEASE READ CAREFULLY AND WATCH THE VIDEO

    EUREKA! We discovered the at-home treatment for coronavirus that works! PLEASE READ CAREFULLY AND WATCH THE VIDEO

    How to Kill the Virus With Hot Air.zip

    I have recommended for decades that anyone feeling the first sign of a cold or flu, to take an immediate hot bath to kill the virus and many of the symptoms diminish much more rapidly. This has proven to be very effective in many research studies.

    The problem is that the coronavirus can withstand temperatures that are too hot for the normal person's body. The coronavirus dies at a temperature of 130F to 133 F (56C). At hot bath, will not get the body to that temperature inside.

    It turns out that the coronavirus lodges in the sinus cavities before the pneumonia starts. This is why the test for the coronavirus is done by sticking a swab up your nose and you can be without symptoms for up to five days after infection. Once it infects your lungs, you are likely to get extremely ill.

    HOT AIR will kill the coronavirus. We can safely breathe in hot air that is a temperature of 130F (56C). People who live in desert environments, where it gets really hot, do this all the time. People who sit in a dry sauna regularly breathe in air that is 140F+. If you have a dry sauna at home you can use it. If you do not have a dry sauna, you can use a simple hairdryer, IF you use it carefully.

    I heard about using a hairdryer to make hot air, but my concern was that people would burn their faces. Now, we have a SAFE technique that can be done at home with just water, a clean water spray bottle, and a hairdryer.

    1. Use the water spray to moisten the face.
    2. Then, use the hairdryer on the lowest setting and use one hand to block some, not all, of the air coming in the back of the hairdryer to reduce the volume of air.
    3. Wave the hairdryer in front of your face but do not let it blow directly in one place to burn you. You can feel the air get hot.
    4. Breathe in the dry, hot air for five minutes through the nose with the mouth closed.
    5. Close your eyes as much as possible during the procedure (peeking only if you need to) to keep them from drying out. Use eye drops afterward, if your eyes become dry.

    Attached is a video showing the safe technique. Please watch it carefully, to the end, to learn how to do this properly.

    If you experience fever, headache, dry cough, or shortness of breath, these are the signs of the coronavirus infection. Fever is usually the first sign. Take your temperature regularly, and take the temperature of the ones at home with you as well. If you do not have a thermometer, use your hand to touch your forehead. You can easily feel a strong fever this way.

    Use this breathing dry hot air technique the moment you notice a fever beginning. Continue to use it as described in the video.

    You will not kill all the virus and you will still be infected, and you still may get sick. However, you will lower the viral load as it enters the body through the nose. This will help your immune system withstand the viral attack.

    I have verified the information in this video by reading the scientific research papers (published and peer-reviewed) and it is 100% accurate.

    Precautions:

    If you are sick, always consult with a health practitioner over the telephone. This is not a substitute for receiving adequate medical care and not medical advice, only a healthy defensive technique that you must do properly, to do it safely. YOU CAN BURN YOUR FACE IF YOU DO THIS INCORRECTLY! Use caution and follow the instructions in the video. If you feel discomfort STOP! Wave the hairdryer to have it create hot air in front of your nose that you can breathe in. Do NOT hold the hairdryer still, while it is pointed at your face. Elderly people and children need assistance to perform this technique correctly.

    Sources: Elevated body temperature helps certain types of immune cells to work better, evidence suggests
    https://www.sciencedaily.com/releases/2011/11/111101130200.htm

    Heat at 56°C kills the SARS coronavirus at around 10000 units per 15 min https://www.who.int/csr/sars/survival_2003_05_04/en/

    Thanks to Robert in Romania for finding this video for us.

    PLEASE PASS THIS INFORMATION ON TO OTHERS We can defeat this virus with accurate information.

    opened by willivision 19
  • Motor controller wire identification.

    Motor controller wire identification.

    The motor controller shown in the link has on the input side a large red and back wire (presumably supply and ground) and three smaller wires ending in a plug which are not identified. They are brown red and yellow. It appears from the circuit diagram only two are used sig-esc and v-esc. Can anyone identify which these are, or how to discover? Thanks

    opened by lebothan 4
  • FYI: Washington Hospital version of improvised PAPR

    FYI: Washington Hospital version of improvised PAPR

    I'm trying to get a hold of you about your PAPR designs. Specifically, I'm organizing a group of (loosely vetted) people who are seriously working on improvised PPE.

    Halo design video, and 3-d print files Specifically, these doctors/HCP solved a lot of the PPR issues: https://www.youtube.com/watch?v=JMXP8jAmDKA&feature=youtu.be

    Innovations: existing inline viral filters (widely available in hospitals) and use of disposable plastic bag for hood.

    I'm hocho on this discord server: https://discord.gg/H3jUmar (all welcome, and expect to be vetted lightly) or [email protected] or 607-279-3623 (text/phone)

    In it to make an impact and move the needle. Working 12hr days 7 days a week. Mainly, i'm organizing and connecting people.

    opened by chonghorizons 3
  • Over pressurization

    Over pressurization

    I don't think that 20cm h2o is very high, nor would cause any lung trauma. My personal NIV mask setup tops out at 25cm and isn't even fully inflating my lungs. Cough assist machines go into the 60s-70s of pressure, even if it is for brief periods.

    All this to say, we likely will have problems getting high enough pressures, don't need to really worry about over pressurization. As a FYI, I'm from Washington State where Covid-19 is out of control. My pulmonologist is one of the top in the nation (Dr. Joshua Benditt) and we talked about too high of pressures on my ventilator. He wasn't concerned.

    opened by fireb0lt 3
  • Link to colab notebook with data visualization

    Link to colab notebook with data visualization

    Made a Colab notebook for visualization of the data: https://colab.research.google.com/drive/1iFMmMMrg_3OeifzJikT75fy4ev84W235

    Upside of using Colab: instantly usable by anyone with an internet connection, no setup required.

    Downside is it's not tracked in git, but I think should be OK as long as the data paths don't change. (Instead strictly add data paths.)

    opened by peteflorence 3
  • Use Decathlon or similar diving mask as C-PAP mask

    Use Decathlon or similar diving mask as C-PAP mask

    Hi,

    In Europ, we have a project to mod a diving mask to a C-PAP mask --- It's tested and in use now in Italy ---

    See link https://www.isinnova.it/easy-covid19-eng/

    Video https://youtu.be/w4Csqdxkrfw

    photo

    By https://www.isinnova.it/

    opened by PaulStefaan 2
  • First draft of README.md

    First draft of README.md

    I think it's a good time to capture real-life references and other things related to model development. @jcl5m1 can you think of any other points to be added?

    opened by RomanTheLegend 1
  • Helping out with Todos

    Helping out with Todos

    Hi @jcl5m1 @nasocializes , I'm an EE undergrad at UCLA, with some knowledge of PCB design, matlab, python, and programming arduinos. I was looking over your documentation, and would like to help out with some of the to dos. Having limited resources and no med background, I'm not sure if I can recreate and test aspects of your todos in ways useful. But I'm available if you'd like to offload any busy work in modeling and design especially with electronics, because I'd like to make this as easy for you as possible. Any chance we could briefly talk through github or email ([email protected]) would be awesome. Thanks in advance and great work.

    opened by kenryhou2 1
  • Jupyter notebook for visualize.py

    Jupyter notebook for visualize.py

    HI @jcl5m1

    I see that you are already have ventilator_data_analysis.ipynb But perhaps, to keep track of changes in the same repository of visualize.py, a Jupyter notebook might be helpful. Will later put a PR for that :-)

    opened by mxochicale 1
  • Offering help with the TO-DOs

    Offering help with the TO-DOs

    Hello Johnny,

    Very inspiring what you are doing, myself and a team of Biomedical Engineering Senior year Students would like to help with the TO-DOs, we have a pretty good background with both the Medical and the Engineering aspects of the electro-mechanical ventilation systems and would gladly invest our times in such project.

    Email me if possible at [email protected]

    opened by MostafaAbdelmegeed 1
  • AG Inductries Generic CPAP outlet filter CAD model draft

    AG Inductries Generic CPAP outlet filter CAD model draft

    Based on this model: https://www.cpap.com/productpage/generic-bacteria-filter-cpap-machines-10-pack

    As far as I've seen all of these parts have same "ports", that is Male Connector End Outer Diameter: 15mm Female Connector End Interior Diameter: 22mm

    Submitting as draft because I do not have filters themselves to check the dimensions (waiting for delivery) Also because I set wall thickness to 2.5 it will somehow affect the volume of airflow, so it might require a bit of an extra pressure to produce same throughput.

    Recommend to print it with transparent PTE-G

    Additionally attaching Fusion360 project in case if somebody could test and do the adjustments sooner

    opened by RomanTheLegend 1
  • I got inspired from your ventilator

    I got inspired from your ventilator

    Johnny I got inspired from your ventilator and I built my own. Let me know what you think of this one: http://magicventilator.com/

    Here is some information on how it works: http://magicventilator.com/2020/07/12/how-the-magic-ventilator-works/

    Let me know what you think?!

    opened by magicventilator 4
  • Add issue and pull request template

    Add issue and pull request template

    I strongly believe adding pull request and issue templates is a good change for this project, as this would standardize and encourage new contributions.

    opened by breno-helf 0
  • Create a CODE_OF_COUNDUCT.md and a CONTRIBUTING.md

    Create a CODE_OF_COUNDUCT.md and a CONTRIBUTING.md

    I strongly believe you guys should create a CODE_OF_CONDUCT.md and a CONTRIBUTING.md. Those files would encourage new people to collaborate on the project, and will make it more aligned with open source guidelines. I can help to create those files and give examples if needed.

    opened by breno-helf 3
  • Project Updates

    Project Updates

    Hi Johnny,

    Congratulations on your swift and proactive response to the Coronavirus crisis that is gripping the world. I couldn't find a public email so I hope this is a suitable place to post this message. I work with the Technology Exchange Lab (www.techxlab.org) and I have followed your progress with great interest. We are a nonprofit based in Boston and host a database of sustainable, cost-effective technology that can change the lives of people living in poverty.

    The new COVID-dedicated section of TEL's website collates and curates up-to-date information on products, prototypes, and design specifications of ventilators and other equipment. The data are, as always, free to all, in a user-friendly yet information-packed format. As a new initiative that meets our criteria, your project has its own dedicated entry on our site (it is listed as both a ventilator project and a PPE project due to its potential use as a PAPR)

    https://www.techxlab.org/solutions/low-cost-open-source-ventilator-ish-device-or-papr

    I have looked through your published specs and I am looking for any updates to the following questions. Any additional information that you can supply will assist other projects around the world who hope to work quickly and efficiently to solve the ventilator shortage problem.

    • Is this a Volume Control Ventilation, (VCV), Pressure Control Ventilation, (PCV), or Pressure Regulated Volume Control (PRVC) device?
    • What is the plateau pressure range?
    • What are the I/E ratio settings?
    • What is the Tidal Volume Range?
    • What is the respiratory rate range?
    • How long can it run without interruption?

    The solution page for your project on our site has an update form, please feel free to add any updates there or contact me directly.

    I look forward to hearing from you soon,

    Éadaoin Ilten Operations Manager www.techxlab.org

    opened by eadilten 0
  • Cpap ventilator

    Cpap ventilator

    Consider adding my HC-05 and Android Phone Bluetooth Control Interface to your Project

    Adds CPAP, BiPAP, and pressure sensor sync modes. High and low pressure and High and Low delays are all adjustable thru sliders.

    Link Address to public repository .... https://github.com/CDtice/Ventilator-Bluetooth-Control-Interface

    opened by CDtice 0
Owner
Johnny Lee
Johnny Lee
Open-Source Python CLI package for copying DynamoDB tables and items in parallel batch processing + query natural & Global Secondary Indexes (GSIs)

Python Command-Line Interface Package to copy Dynamodb data in parallel batch processing + query natural & Global Secondary Indexes (GSIs).

null 1 Oct 31, 2021
Professor Wordlist is a free open source command line tool written in python

Professor Wordlist is a free open source command line tool written in python, With the aim of generating custom wordlists with a variety of unique parameters and functions providing many possibilities.

オークO A K Z E H オーク 1 Oct 28, 2021
An open-source CLI tool for backing up RDS(PostgreSQL) Locally or to Amazon S3 bucket

An open-source CLI tool for backing up RDS(PostgreSQL) Locally or to Amazon S3 bucket

null 1 Oct 30, 2021
An open source terminal project made in python

Calamity-Terminal An open source terminal project made in python. Calamity Terminal is a free and open source lightweight terminal. Its made 100% off

null 1 Mar 8, 2022
WebApp Maker make web apps (Duh). It is open source and make with python and shell.

WebApp Maker make web apps (Duh). It is open source and make with python and shell. This app can take any website and turn it into an app. I highly recommend turning these few websites into webapps: - Krunker.io (Fps Game) - play.fancade.com (Minigame Arcade) - Your Own Website If You Have One Apart from that enjoy my app By 220735540 (a.k.a RP400)

null 2 Jan 9, 2022
gget is a free and open-source command-line tool and Python package that enables efficient querying of genomic databases.

gget is a free and open-source command-line tool and Python package that enables efficient querying of genomic databases. gget consists of a collection of separate but interoperable modules, each designed to facilitate one type of database querying in a single line of code.

Pachter Lab 570 Dec 29, 2022
Open a file in your locally running Visual Studio Code instance from arbitrary terminal connections.

code-connect Open a file in your locally running Visual Studio Code instance from arbitrary terminal connections. Motivation VS Code supports opening

Christian Volkmann 56 Nov 19, 2022
open a remote repo locally quickly

A command line tool to peek a remote repo hosted on github or gitlab locally and view it in your favorite editor. The tool handles cleanup of the repo once you exit your editor.

Rahul Nair 44 Dec 16, 2022
Quickly open any path on your terminal window in your $EDITOR of choice!

Tmux fpp Plugin wrapper around Facebook PathPicker. Quickly open any path on your terminal window in your $EDITOR of choice! Demo Dependencies fpp - F

null 257 Dec 28, 2022
A command line tool to query source code from your current Python env

wxc wxc (pronounced "which") allows you to inspect source code in your Python environment from the command line. It is based on the inspect module fro

Clément Robert 13 Nov 8, 2022
A CLI Application to detect plagiarism in Source Code Files.

Plag Description A CLI Application to detect plagiarism in Source Code Files. Features Compare source code files for plagiarism. Extract code features

default=dev 2 Nov 10, 2022
Detect secret in source code, scan your repo for leaks. Find secrets with GitGuardian and prevent leaked credentials. GitGuardian is an automated secrets detection & remediation service.

GitGuardian Shield: protect your secrets with GitGuardian GitGuardian shield (ggshield) is a CLI application that runs in your local environment or in

GitGuardian 1.2k Jan 6, 2023
The project is an open-source and low-cost kit to get started with underactuated robotics.

Torque Limited Simple Pendulum Introduction The project is an open-source and low-cost kit to get started with underactuated robotics. The kit targets

null 34 Dec 14, 2022
Code for HLA-Face: Joint High-Low Adaptation for Low Light Face Detection (CVPR21)

HLA-Face: Joint High-Low Adaptation for Low Light Face Detection The official PyTorch implementation for HLA-Face: Joint High-Low Adaptation for Low L

Wenjing Wang 77 Dec 8, 2022
Official code of "R2RNet: Low-light Image Enhancement via Real-low to Real-normal Network."

R2RNet Official code of "R2RNet: Low-light Image Enhancement via Real-low to Real-normal Network." Jiang Hai, Zhu Xuan, Ren Yang, Yutong Hao, Fengzhu

null 77 Dec 24, 2022
PCAfold is an open-source Python library for generating, analyzing and improving low-dimensional manifolds obtained via Principal Component Analysis (PCA).

PCAfold is an open-source Python library for generating, analyzing and improving low-dimensional manifolds obtained via Principal Component Analysis (PCA).

Burn Research 4 Oct 13, 2022
PaddleRobotics is an open-source algorithm library for robots based on Paddle, including open-source parts such as human-robot interaction, complex motion control, environment perception, SLAM positioning, and navigation.

简体中文 | English PaddleRobotics paddleRobotics是基于paddle的机器人开源算法库集,包括人机交互、复杂运动控制、环境感知、slam定位导航等开源算法部分。 人机交互 主动多模交互技术TFVT-HRI 主动多模交互技术是通过视觉、语音、触摸传感器等输入机器人

null 185 Dec 26, 2022