机器人2026，Vol.48Issue(2)：246-258,13.DOI:10.13973/j.cnki.robot.240363
脑控移动机器人的系统性能综合评估框架
A Comprehensive Framework for Evaluating the System Performance of Brain-controlled Mobile Robots
摘要
Abstract
For the brain-controlled mobile robots,there is a lack of a unified and comprehensive evaluation framework to systematically assess the performance of such systems in practical applications.This gap makes it challenging to effectively compare different research results,hindering the further optimization of relevant system performance.To address this issue,a multidimensional comprehensive evaluation framework is proposed by considering 3 components of the user,the brain-computer interface(BCI),and the robot,which covers user experience,BCI performance,and task execution capabilities.The key technologies of the BCI,control strategy,and robot intelligence involved in brain-controlled mobile robots are outlined firstly.Then,the core evaluation indexes covered by the system are sorted out.On this basis,the index data are normalized,and the entropy weighting method and the analytic hierarchy process are comprehensively applied to determining the component indexes and dimensional weights.A comprehensive scoring framework model for the system performance is constructed,with several typical research systems selected for the evaluation and analysis.The results show that the proposed evaluation framework has good comprehensive evaluation capability.Finally,the proposed evaluation framework is summarized,and its future development directions are envisioned.关键词
脑控移动机器人/性能评估/综合评价框架/脑机接口Key words
brain-controlled mobile robot/performance evaluation/comprehensive evaluation framework/brain-computer interface引用本文复制引用
李鸿岐,陈怡彤,倪伟杭..脑控移动机器人的系统性能综合评估框架[J].机器人,2026,48(2):246-258,13.基金项目
广东省基础与应用基础研究基金(2022A1515110252) （2022A1515110252）
陕西省自然科学基金(2024JC-YBQN-0659). （2024JC-YBQN-0659）
