基于运动想象脑机接口的外骨骼控制系统研究  

Design and Implementation of Exoskeleton Control System Based on Motor Imagery Brain Computer Interface

作　　者：尹锐 曹勇[2] 姜劲[2] 焦学军[2] 莫言[1] 张瑞明[1] Yin Rui;Cao Yong;Jiang Jin;Jiao Xuejun;Mo Yan;Zhang Ruiming(不详;National Key Laboratory of Human Factors Engineering,China Astronaut Research and Training Center,Beijing 100094,China)

机构地区：[1]中国航天员科研训练中心,北京100094 [2]中国航天员科研训练中心人因工程重点实验室,北京100094

出　　处：《航天医学与医学工程》2020年第3期208-213,共6页Space Medicine & Medical Engineering

基　　金：国家自然科学基金面上项目(81671861);中国载人航天预先研究项目(6142222180107,SYFD160061801)。

摘　　要：目的为提高人机系统作业绩效,降低操作者的体力、脑力负荷,设计基于运动想象脑机接口的外骨骼控制系统。方法外骨骼控制系统采用舱外航天服上肢作为受力外骨骼,开源脑电采集板卡OpenBCI Cyton Borad充当操作者与外骨骼的控制链接,信号处理与控制软件在笔记本电脑上完成。设计想象左手、想象右手两指令的运动想象脑机接口范式,并招募5名受试者参加实验,对系统有效性进行验证。结果5名受试者同步模式识别正确率为82.5%,选取表现最佳的受试者进行异步模式测试,基于40个刺激的空白数据中检测想象状态识别正确率达到100%,指令输出延时2s左右,想象左、右手识别正确率为70%。结论实验结果验证了设计的外骨骼控制系统的有效性,并可为舱外服外骨骼控制和后续空间遥操作类任务的人机交互方式提供新的思路。Objective To improve the performance of human-computer system and reduce the physical and mental workload of human,an exoskeleton control system based on the brain computer interface(BCI)of motor image was designed.Methods In this system,the exoskeleton was implemented with the upper limb of extravehicular spacesuit,the open source EEG acquisition board(Open-BCI Cyton Borad)was used as the control link between the operator and exoskeleton,and a laptop was used for the signal processing and control software.Besides,brain computer interface paradigm about the command of motor imagery(MI)including left hand imagination and right hand imagination was carried out,and 5 subjects were recruited to verify the effectiveness of the system.Results The results showed that the accuracy of synchronous pattern recognition was 82.5%among five subjects,and the best volunteers were selected for asynchronous pattern test.The accuracy of detecting imaginary state data in blank data was 100%,with a 2 sinstruction output delay,and the accuracy of left,right hand imaginary recognition was 70%.Conclusion The effectiveness of the exoskeleton control system designed in this study was verified.The study may provide a new thought for the exoskeleton control and the human-computer interaction of the future space teleoperation tasks.

关 键 词：脑机接口 运动想象 外骨骼 OpenBCI 支持向量机 

分 类 号：V7[航空宇航科学技术]