基于运动想象脑机接口的机械手控制系统设计  

Control System Design of Manipulator Based on Motor Imagery Brain Computer Interface

作　　者：刘帅 乌日开西·艾依提[1] LIU Shuai;Wurikaixi-Aiyiti(School of Mechanical Engineering,Xinjiang University,Xinjiang Urumqi 830047,China)

机构地区：[1]新疆大学机械工程学院,新疆乌鲁木齐830047

出　　处：《机械设计与制造》2024年第4期60-63,70,共5页Machinery Design & Manufacture

基　　金：新疆维吾尔自治区天山英才计划(201720045)。

摘　　要：针对神经损伤导致的运动功能障碍的患者实现主动训练的问题,以便携性和低成本为设计目标,设计了一种基于运动想象脑机接口的机械手控制系统。首先设计用于实现两种指令的运动想象实验范式,基于MATLAB环境开发了在线脑电信号处理系统,通过设计上位机实现脑电信号处理结果的读取与发送,以STM32单片机作为下位机对机械手进行控制,最后招募3名健康受试者对系统的可行性进行验证。研究结果表明:该系统可以实现机械手的准确控制,3名受试者的平均识别正确率为82.8%,验证了系统的可行性。Aiming at the problem of active training of patients with motor dysfunction caused by nerve injury,with portability and low cost as the design goal,a control system of manipulator based on the motor imagery brain computer interface was designed.First,a motor imagery experiment paradigm that can achieve two instructions was designed.Based on the MATLAB environ⁃ment,an online EEG signal processing system was developed.The upper computer was designed to read and send the EEG signal processing results,and the STM32 microcontroller was used as the lower computer to control the manipulator.Finally,3 healthy subjects were recruited to verify the feasibility of the system.The results show that the system can achieve accurate control of the manipulator,and the average accuracy of the 3 subjects is 82.8%,which verifies the feasibility of the system.

关 键 词：脑机接口 运动想象 机械手 

分 类 号：TH16[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置] TH789[自动化与计算机技术—控制科学与工程]