基于脑-机接口的机械手实时运动控制系统研究  

Research on Real-time Motion Control System of the Manipulator Based on Brain-computer Interface

作　　者：李宏伟[1] 赵丽[1] 边琰[1] 张庆祺[1] 耿丽清[1] 

机构地区：[1]天津职业技术师范大学天津市信息传感与智能控制重点实验室,天津300222

出　　处：《机床与液压》2012年第11期40-43,共4页Machine Tool & Hydraulics

基　　金：国家863项目(2007AA04Z254);中国科学院天津专项(TJZXZ-YW-06);天津职业技术师范大学科研发展基金资助项目(YJS10-03)

摘　　要：基于脑-机接口技术实现了一种机械手实时运动控制系统,该系统将稳态视觉诱发电位作为脑-机接口的输入信号,实现了脑电信号对机械手上升、下降、左转、右转、夹紧及松开6种动作的实时控制。系统利用6个LED发光二极管组成视觉刺激器,通过小波变换去除脑电背景噪声,并利用短时傅里叶变换进行诱发电位的频谱分析,将其转换为外部机械手的控制命令。实验结果表明,该系统能有效地控制机械手的实时运动。系统的实现为延伸和提高人类对外部设备的控制能力提供了一种新的途径。A real-time motion control system of the manipulator based on brain-computer interface technology was designed. Six real-time control commands of going up, going down, turning left, turning right, clamping and loosing of the manipulator could be realized by using steady state visual evoked potential （SSVEP） as the input signal of the brain-computer interface. The visual simulator made up of six LEDs was adopted in the system. The discrete wavelet transform and short-time Fourier transform were used to turn electroencephalogram features into control commands. The experimental results show the system can control real-time motion of the manipulator effectively. The realization of the system can provide a new way to enhance the human capability to control external device.

关 键 词：脑-机接口 运动控制 视觉诱发电位 视觉刺激器 小波变换 

分 类 号：R318[医药卫生—生物医学工程]