生物医学工程学杂志

生物医学工程学杂志

直接脑控多机器人协作任务研究

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脑控是一种新的控制方法。传统脑控机器人主要是控制单个机器人完成特定任务,而脑控多机器人协作(MRC)任务是一个有待研究的新课题。本文介绍了参加世界机器人大赛“脑—机接口(BCI)脑控机器人比赛”获得“创新创意奖”的一个试验研究,试验设置了 2 个脑开关,采用基于稳态视觉诱发电位(SSVEP)的 BCI(SSVEP-BCI)控制人形机器人和机械臂完成协作任务。通过 10 名受试者的控制试验结果表明,通过适当设置脑开关,采用性能优良的 SSVEP-BCI 能够实现 MRC 任务的有效完成。本研究可望为未来实用化的脑控 MRC 任务系统的研究提供启发。

Brain control is a new control method. The traditional brain-controlled robot is mainly used to control a single robot to accomplish a specific task. However, the brain-controlled multi-robot cooperation (MRC) task is a new topic to be studied. This paper presents an experimental research which received the "Innovation Creative Award" in the brain-computer interface (BCI) brain-controlled robot contest at the World Robot Contest. Two effective brain switches were set: total control brain switch and transfer switch, and BCI based steady-state visual evoked potentials (SSVEP) was adopted to navigate a humanoid robot and a mechanical arm to complete the cooperation task. Control test of 10 subjects showed that the excellent SSVEP-BCI can be used to achieve the MRC task by appropriately setting up the brain switches. This study is expected to provide inspiration for the future practical brain-controlled MRC task system.

关键词: 脑控; 脑—机器人交互; 多机器人协作; 脑开关; 稳态视觉诱发电位

Key words: brain control; brain-robot interaction; multi-robot cooperation; brain switch; steady-state visual evoked potentials

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