Design for omni-directional mobile wheelchair control system based on brain computer interface

Abstract

Based on Stable-State Visual Evoked Potentials (SSVEP) signal generation method, the multi-mode control system with manual control, remote control and brain computer signal control for omni-directional wheelchair system is designed. The system structure design, EEG signal acquisition and recognition processing technology are introduced. The software architecture of the overall control system, kinematical modeling of the omni-directional wheelchair, implementation of fundamental motion control algorithm and the design of wheelchair motion control algorithm are expounded. The paper illustrates the software architecture of main control system, and the design of motion scheduling and controlling algorithm. The system utilizes user’s EEG signal to control movement of wheelchair; remotely controlling movement of wheelchair. The system has friendly interactive interface for staffs of monitor center or relatives of patients to supervise state of wheelchair motion and information of environment in real time. Experimental results prove that the system could stably and reliably analyze EEG signal, possessing some practical value.