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论文:2017,Vol:35,Issue(1):116-120 |
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引用本文： |
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谢松云, 段绪, 冯怀北, 孟雅, 陈刚. 基于意识任务的机器人脑控系统[J]. 西北工业大学学报 |
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Xie Songyun, Duan Xu, Feng Huaibei, Meng Ya, Chen Gang. Robot Control System Using a Mental Task-Based Brain Computer Interface[J]. Northwestern polytechnical university |
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| 基于意识任务的机器人脑控系统 |
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| 谢松云, 段绪, 冯怀北, 孟雅, 陈刚 |
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| 西北工业大学 电子信息学院, 陕西 西安 710072 |
| 摘要: |
| 目前机器人的控制系统基本需要双手遥控，对残疾人等无法提供便利，提出了一种全新的脑电信号（electroencephalography，EEG）控制机器人方法。采用无需外界刺激的意识任务诱发特征EEG，通过便携式脑电设备采集EEG，经过特征提取与指令分类，实现对机器人的控制。针对意识任务需要被试进行大量的训练，设计了离线训练系统。针对EEG信噪比较低的问题，研究了意识任务下EEG处理方法。最后设计了在线机器人脑控系统，利用想象左手运动、想象右手运动、想象单词生成分别控制机器人左转、右转与前进，利用眨眼信号控制机器人停止。实验结果表明，从准确率、舒适度两方面来看，基于意识任务的机器人脑控系统有效实现了机器人的控制。 |
| 关键词:
脑控系统
机器人控制
EmotivEpoc
意识任务
LTCFB-CSP算法
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| Robot Control System Using a Mental Task-Based Brain Computer Interface |
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| Xie Songyun, Duan Xu, Feng Huaibei, Meng Ya, Chen Gang |
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| School of Electronics and Information, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| The existing robot control system basically needs hand remote control, and could not provide facilities for people with disabilities. A new EEG control robot method is proposed. In this paper, EEG is induced by mental task without external stimuli and collected by portable EEG cap. After feature extraction and classification, the robot is controlled. Long time training is needed for mental task, and the off-line training system is designed. Aimed at the low SNR of EEG, the process method of EEG with specific pattern is studied. Finally, an online robot control system is designed, subjects can control the robot turning left, turning right, going straight and going back using left-hand motor imagery, right-hand motor imagery, word generation task and blink, respectively. The experimental result shows that from the perspective of accuracy and comfort, the robot-based brain-control system based on mental task can efficiently control the robot. |
| Key words:
robot control
brain computer interface
EEG
portable device
data acquisition
EmotivEpoc
artificial removal
feature extraction
pattern recognition
mental task
motor imagery
eye blink
MATLAB
common spatial pattern
local temporal correlation
filter bank
support vector machines
ERD/ERS
topological graph
power spectrum
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| 收稿日期: 2016-09-18
修回日期:
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| DOI: |
| 基金项目: 国家自然科学基金（61273250）、西北工业大学研究生创业种子基金（Z2016124）以及大学生创新创业训练计划项目（201510699145）资助 |
| 通讯作者:
Email： |
| 作者简介: 谢松云(1968-),女,西北工业大学教授、博士生导师,主要从事神经信息处理、脑认知与脑机接口及动态目标识别与跟踪的研究。
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| 相关功能 |
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| 作者相关文章 |
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| 谢松云 在本刊中的所有文章 |
| 段绪 在本刊中的所有文章 |
| 冯怀北 在本刊中的所有文章 |
| 孟雅 在本刊中的所有文章 |
| 陈刚 在本刊中的所有文章 |
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参考文献: |
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[4] 谢松云, 王立楠, 张斌,等. 用于飞行员状态监控的视觉空间选择性注意研究[J]. 西北工业大学学报, 2014, 32(2):268-272 Xie Songyu, Wang Linan, Zhang Bin, et al. On Spoutial Selective Atlention Pattern and Its Application to Monitoring of Polins Brain Fuction State[J]. Journal of Northwestern Polytechnical University, 2014, 32(2):268-272(in Chinese)
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