Abstract
With the increasing of the elderly population and the growing health care cost, the role of service robots in aiding the disabled and the elderly is becoming important. Many researchers in the world have paid much attention to healthcare robots and rehabilitation robots. To get natural and harmonious communication between the user and a service robot, the information perception/feedback ability, and interaction ability for service robots become more important in many key issues. Currently these capabilities of service robots are in preliminary level, therefore, there is much work to be done to improve the performance of service robots .
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