信息与控制2016，Vol.45Issue(5)：513-520,8.DOI:10.13976/j.cnki.xk.2016.0513
基于高频稳态视觉诱发电位的仿人机器人导航
High-frequency SSVEP-based Navigation of a Humanoid Robot
摘要
Abstract
Low-and medium-frequency steady-state visual evoked potentials (SSVEPs)can easily induce visual fa-tigue,and current high-frequency SSVEP paradigms place a high demand on a stimulation equipment.There-fore,we use a phase-coded method to build a user interface for a high-frequency SSVEP based brain robot in-teraction (BRI)on a regular liquid crystal display.Considering the difficulty in recognizing high-frequency SSVEP,we propose a fuzzy method to improve the efficiency of brain signal classification.Result of on-line humanoid robot navigation experiments show that the medium-frequency SSVEP-based brain-robot navigation system easily made subjects uncomfortable and achieved an average accuracy rate of 92.44%,a collision number of 2.14 times/trial,and an average operating frequency of 11.23 times per minute.Conversely,the application of the high-frequency paradigm to the system reduced the subjects′visual fatigue and gave better results with an average accuracy rate of93.31%,a collision time of 1.89 times/trial and an operating frequen-cy of 12.05 times per minute.关键词
脑-机器人接口(BRI)/稳态视觉诱发电位/仿人机器人/模糊分类Key words
brain-robot interaction (BRI)/steady-state visual evoked potential/humanoid robot/fuzzy classification分类
信息技术与安全科学引用本文复制引用
胡鸿,李岩,张进,李伟..基于高频稳态视觉诱发电位的仿人机器人导航[J].信息与控制,2016,45(5):513-520,8.基金项目
国家自然科学基金资助项目（61473207）；机器人学国家重点实验室自主课题 （）
