北京生物醫(yī)學工程

基于高級控制策略的腦-機接口控制機械臂系統(tǒng)

Brain-computer interface controlled robotic arm system based on high-level control strategy

作者：李紅衛(wèi) 陳小剛

單位：中國人民解放軍第161醫(yī)院醫(yī)學工程科(湖北武漢 430010)<p>中國醫(yī)學科學院北京協(xié)和醫(yī)學院生物醫(yī)學工程研究所(天津 300192)</p><p></p>

關鍵詞：高級控制策略；穩(wěn)態(tài)視覺誘發(fā)電位；腦-機接口；機械臂

分類號：R318.04

出版年·卷·期（頁碼）：2019·38·1（36-41）

摘要：

目的為了增加腦-機接口控制機械臂完成諸如抓取和放置的復雜操作的能力，本文設計與實現(xiàn)了一套新穎的基于腦-機接口控制的機械臂系統(tǒng)。方法該系統(tǒng)主要包括計算機視覺、穩(wěn)態(tài)視覺誘發(fā)電位腦-機接口和機械臂。計算機視覺用于識別工作區(qū)物體的形狀和位置，低頻穩(wěn)態(tài)視覺誘發(fā)電位腦-機接口允許用戶選擇需要被操作的物體，機械臂則自主完成抓取和放置操作。為了驗證機械臂系統(tǒng)，選取14名健康受試者，受試者均參加了離線試驗，12名受試者參與在線試驗。結果12名健康受試者的在線結果表明，所構建的系統(tǒng)能夠在6.75 s內從4個可供選擇的指令中輸出一個命令，且獲得95.24%的平均分類正確率。結論這些結果表明穩(wěn)態(tài)視覺誘發(fā)電位的腦-機接口能夠為機械臂提供精確、有效的高級控制。

ObjectiveTo increase the ability of brain-computer interface to control a robotic arm to complete complex operations such as pick and place. This paper is designed and realized a novel brain-computer interface (BCI) controlled robotic arm. MethodsThe proposed system included computer vision, steady-state visual evoked potential (SSVEP)-based BCI, robotic arm. The computer vision could identify and locate objects in the workspace, the low-frequency SSVEP-based BCI allowed the user to select the objects that need to be operated. The robotic arm could autonomously pick and place the selected object. In order to verify the robotic arm system, 14 healthy subjects were selected and all of them participated in the off-line test，12 subjects participated in the on-line test.Results Online results involving twelve subjects indicated that a command for the propose system could be selected from four possible choices in 6.75 s with 95.24% accuracy.Conclusion These results demonstrate an SSVEP-based BCI can provide accurate and efficient high-level control of a robotic arm.

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