自动化学报2016，Vol.42Issue(11)：1630-1640,11.DOI:10.16383/j.aas.2016.c150880
基于SSVEP直接脑控机器人方向和速度研究
Direct-brain-controlled Robot Direction and Speed Based on SSVEP Brain Computer Interaction
摘要
Abstract
Direct use of thinking to control a robot without peripheral nerves and muscles is a dream of human beings, and this research has become a hot spot and a breakthrough point in the world. The traditional brain-controlled robot (BCR) mainly controls the direction, and this paper aims to explore the effective method to control the direction and speed of robot through brain. Using the brain-computer/interaction (BCI/BMI) method based on steady state visual evoked potential (SSVEP), 9 instructions are designed to control the robot. And the canonical correlation analysis (CCA) method is used to identify EGG patterns. The results show that appropriate setting of the target number and its layout spacing and the flashing time can effectively improve the performance of the direct-brain-controlled robot. The optimization of the SSVEP stimulus paradigm three, the average time of 8 subjects controlled robot to reach destination using 2 minutes and 40 seconds, with a minimum of 1 minutes and 29 seconds. Meanwhile, the average number of touching obstacles is 0.88, the least touch number is 0, and the maximum number of touch is 3. This study shows that the BCI based on SSVEP can be used for the direct-brain-controlled robot. In order to overcome the limitations in the single SSVEP paradigm, this study also combines motor (Hybrid-BCI) imagery to control the robot. This paper is expected to provide ideas for the direction and speed control for the brain-computer interaction based on SSVEP or combined with motor imagery, and to provide a certain basis for practical direct-brain-controlled robot technology.关键词
脑控机器人/稳态视觉诱发电位/典型相关分析/脑-机交互/混合脑机接口Key words
Brain-controlled robot (BCR)/steady state visual evoked potentials (SSVEP)/canonical correlation analysis (CCA)/brain-computer/machine interaction (BCI/BMI)/hybrid-BCI引用本文复制引用
伏云发,郭衍龙,李松,熊馨,李勃,余正涛..基于SSVEP直接脑控机器人方向和速度研究[J].自动化学报,2016,42(11):1630-1640,11.基金项目
国家自然科学基金(61363043,61463024,81470084),云南省应用基础研究计划(2013FB026),云南省级人培项目(KKSY201303048),云南省教育厅重点项目(2013Z130),昆明理工大学脑信息处理与脑机交互融合控制(学科方向团队建设经费)资助Supported by National Natural Science Foundation of China (61363043,61463024,81470084), Research Project for Appli-cation Foundation of Yunnan Province (2013FB026), Cultiva-tion Program of Talents of Yunnan Province (KKSY201303048), Focal Program for Education O?ce of Yunnan Province (2013Z130), and Brain Information Processing and Brain-computer Interaction Fusion Control of Kunming University Sci-ence and Technology (Fund of Discipline Direction Team) （61363043,61463024,81470084）
