中文摘要：

进行了寻求移动作业助老助残服务机器人人机协作新途径的研究。与以往人机系统研究强调将人的定性判断决策智能与机器的定量计算推理智能相结合的人机任务分工不同，该研究提出了一种新的人机协作实现途径，即采用认知推理语义网络推动人机交互进程，借鉴理性思维适应性控制（ACT-R）认知架构进行人机协作认知建模，通过人、机器、感知、人机交互、人机耦合等功能模块的相互激励、联系与整体综合实现人机智能融合。试验表明，上述人机协作认知架构及技术路径具有可行性。本文研究虽以移动作业服务机器人为例，但对于智能康复床、智能轮椅、智能清洗设备等其它类型的服务机器人也具有普遍意义。

英文摘要：

The work aims to search for a new method of human-robot collaboration （HRC） for the application of aged anddisabled assistance. Different from previous human-robot studies focusing on integrating the human decision-making intelligence by qualitative judgment with the robots＇ reasoning intelligence by quantitative calculation, this studygave a new philosophy for HRC, namely, adopting a semantic web of cognitive reasoning to promote human-robot interaction （ HRI）, constructing a cognitive HRC model by taking reference from the adaptive control of thought-ra- tional （ACT-R） human cognitive architecture, and realizing the human-robot intelligence integration （HRII） bythe mutual encouragement, connection anct mtegrauou t,~ ,,~ and human-robot coupling, etc. Its technical feasibility was validated by experiment. Although this study targets to mobile service robots, it can be extensively used in other types of service robots like smart rehabilitation beds, wheelchairs and cleaning equipments, etc.