基于高频相位标记SSVEP刺激的仿人机器人远程呈现控制

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI:10.1109/AMC.2016.7496353

Hong Hu, Jing Zhao, Hongbo Li, Wei Li, Genshe Chen

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引用次数: 4

摘要

提出了一种基于高频稳态视觉诱发电位的脑控人形机器人模型。该模型的一个优点是通过使用频率为30Hz的视觉刺激来减少受试者的疲劳。本研究通过优化刺激模式来增加大脑信号，并应用基于模糊的分类方法来识别人类的心理活动并将其转化为控制命令。根据实时视频反馈，7名受试者成功地操纵NAO人形机器人通过地图避障。在线机器人导航实验平均控制成功率为94.26%，每次任务平均碰撞次数为1.8次。

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Telepresence control of humanoid robot via high-frequency phase-tagged SSVEP stimuli

This paper presents a high-frequency steady-state visual evoked potential-based model for a brain-controlled humanoid robot. An advantage of this model is to reduce subjects' fatigue by using visual stimuli with a frequency of 30Hz. This study optimizes the stimulus patterns to increase the brain signals and applies a fuzzy-based classification approach to identify human mental activities and convert them into control commands. Seven subjects successfully navigated a NAO humanoid robot to walk through a map with obstacle avoidance based on live video feedback. The on-line robot navigation experiment reached the average control success rate of 94.26% and an average collision of 1.8 times during a mission.

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2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)

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