基于AR-SSVEP的仿人机器人控制系统

Yao Wang, Xiang Zhang, Kun Li, Jinhai Wang, Xiaogang Chen
{"title":"基于AR-SSVEP的仿人机器人控制系统","authors":"Yao Wang, Xiang Zhang, Kun Li, Jinhai Wang, Xiaogang Chen","doi":"10.1145/3404555.3404625","DOIUrl":null,"url":null,"abstract":"In the brain computer interface (BCI), steady-state visual evoked potential (SSVEP) is a relatively common input signal of human-computer interaction systems. However, it often requires a fixed computer screen as a visual stimulator, which limits the flexibility of its application. In this research, HoloLens glasses are used as visual stimulators in a BCI system based on augmented reality to control the humanoid robot NAO to recognize and grasp objects. The system uses augmented reality device to induce steady-state visual evoked potential. The user does not need to perform visual stimulation at a fixed position, which can enhance the applicability in complex environments, thereby achieving more natural human-computer interaction. In order to achieve grasping, this study uses robot monocular vision recognition and establish forward and inverse kinematics models of the robot arms. EEG experiments have been performed to verify the accuracy of the system, it is more flexible and convenient for using augmented reality as stimulators in a humanoid robot control system based on SSVEP-BCI.","PeriodicalId":220526,"journal":{"name":"Proceedings of the 2020 6th International Conference on Computing and Artificial Intelligence","volume":"43 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Humanoid Robot Control System Based on AR-SSVEP\",\"authors\":\"Yao Wang, Xiang Zhang, Kun Li, Jinhai Wang, Xiaogang Chen\",\"doi\":\"10.1145/3404555.3404625\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In the brain computer interface (BCI), steady-state visual evoked potential (SSVEP) is a relatively common input signal of human-computer interaction systems. However, it often requires a fixed computer screen as a visual stimulator, which limits the flexibility of its application. In this research, HoloLens glasses are used as visual stimulators in a BCI system based on augmented reality to control the humanoid robot NAO to recognize and grasp objects. The system uses augmented reality device to induce steady-state visual evoked potential. The user does not need to perform visual stimulation at a fixed position, which can enhance the applicability in complex environments, thereby achieving more natural human-computer interaction. In order to achieve grasping, this study uses robot monocular vision recognition and establish forward and inverse kinematics models of the robot arms. EEG experiments have been performed to verify the accuracy of the system, it is more flexible and convenient for using augmented reality as stimulators in a humanoid robot control system based on SSVEP-BCI.\",\"PeriodicalId\":220526,\"journal\":{\"name\":\"Proceedings of the 2020 6th International Conference on Computing and Artificial Intelligence\",\"volume\":\"43 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-04-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2020 6th International Conference on Computing and Artificial Intelligence\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1145/3404555.3404625\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2020 6th International Conference on Computing and Artificial Intelligence","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3404555.3404625","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6

摘要

在脑机接口(BCI)中,稳态视觉诱发电位(SSVEP)是人机交互系统中较为常见的输入信号。然而,它往往需要一个固定的计算机屏幕作为视觉刺激,这限制了其应用的灵活性。在本研究中,利用HoloLens眼镜作为视觉刺激器,在基于增强现实的BCI系统中控制仿人机器人NAO识别和抓取物体。该系统利用增强现实设备诱发稳态视觉诱发电位。用户不需要在固定位置进行视觉刺激,可以增强在复杂环境中的适用性,从而实现更自然的人机交互。为了实现抓取,本研究采用机器人单目视觉识别,建立了机器人手臂的正运动学和逆运动学模型。通过脑电实验验证了该系统的准确性,在基于SSVEP-BCI的仿人机器人控制系统中使用增强现实作为刺激器更加灵活和方便。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Humanoid Robot Control System Based on AR-SSVEP
In the brain computer interface (BCI), steady-state visual evoked potential (SSVEP) is a relatively common input signal of human-computer interaction systems. However, it often requires a fixed computer screen as a visual stimulator, which limits the flexibility of its application. In this research, HoloLens glasses are used as visual stimulators in a BCI system based on augmented reality to control the humanoid robot NAO to recognize and grasp objects. The system uses augmented reality device to induce steady-state visual evoked potential. The user does not need to perform visual stimulation at a fixed position, which can enhance the applicability in complex environments, thereby achieving more natural human-computer interaction. In order to achieve grasping, this study uses robot monocular vision recognition and establish forward and inverse kinematics models of the robot arms. EEG experiments have been performed to verify the accuracy of the system, it is more flexible and convenient for using augmented reality as stimulators in a humanoid robot control system based on SSVEP-BCI.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信