基于脑-机接口的无线智能机器人控制系统

Control system for wireless intelligent robot based on BCI

提出一种基于思维脑电的无线智能机器人控制系统设计方案。该系统采用想象左右手运动时产生的脑电信号作为智能服务机器人运动的控制信号,实现对服务机器人的控制,改善瘫痪患者生活自理能力。采用基于小波包分解的方法提取特征向量,利用基于欧式距离的方法进行模式识别,进而产生机器人运动控制信号,并通过LabVIEW串口发给单片机,单片机对该信号进行红外编码后发给智能机器人,用以控制其运动方向。实验结果证明,该设计方案有利于提高脑-机接口的实用性。

This paper introduced a wireless intelligent robot control system based on BCI techniques, which applies the patient＇s motor imagery electroencephalogram （EEG） of imaging the movement of left or right hand as the control signal that is used for the intelligent robot control, and in that way it can improve the patients＇ self-care ability of daily life. This system can put the patient＇s motor image into the movement of the intelligent robot, which gives patients strong feedback information of training. So we think this system not only can offer the robot services, but also can be used to improve the effectiveness of recovery training. Wavelet packet decomposition which is used to extract the feature vector of the motor imagery electroencephalogram （EEG） is given in this paper. The result shows that the rationality and practical value of multi-option control by using motor imagery electroencephalogram（EEG）.