Human Cooperative Wheelchair With Brain-Machine Interaction Based on Shared Control Strategy

被引:85
作者
Li, Zhijun [1 ,2 ]
Zhao, Suna [1 ]
Duan, Jiding [1 ]
Su, Chun-Yi [1 ]
Yang, Chenguang [1 ]
Zhao, Xingang [2 ]
机构
[1] South China Univ Technol, Coll Automat Sci & Engn, Guangzhou 510641, Guangdong, Peoples R China
[2] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China
基金
中国国家自然科学基金;
关键词
Angle potential field; brain-machine interface (BMI); shared control; vision-based simultaneous localization and mapping (SLAM); TIME OBSTACLE AVOIDANCE; MOBILE ROBOTS; DYNAMIC CONSTRAINTS; EEG; INTERFACE; NETWORKS;
D O I
10.1109/TMECH.2016.2606642
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, a human-machine shared control strategy is proposed for the navigation control of a wheelchair, employing both brain-machine control mode and autonomous control mode. In the brain-machine control mode, contrary to the traditional four-direction control signals, a novel brain-machine interface using steady-state visual evoked potentials is presented, which utilizes two brain signals to produce a polar polynomial trajectory. The produced trajectory is continuous in curvature without violating dynamic constraints of the wheelchair. In the autonomous control mode, the synthesis of angle-based potential field and vision-based simultaneous localization and mapping technique is proposed to guide the robot navigating among the obstacles. Extensive experiments have been conducted to test the developed shared control wheelchair in several scenarios with a number of volunteers, and the results have verified the effectiveness of the proposed shared control scheme.
引用
收藏
页码:185 / 195
页数:11
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