基于事件相关电位的水下机械手脑电波控制
Controlling an Underwater Manipulator via Event-Related Potentials of Brainwaves
查看参考文献32篇
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文摘
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为了解放水下机械手操作人员的双手,本文将脑-机接口(BCI)技术应用到水下机器人作业中,通过解析脑电信号并将其映射为具体指令从而控制机械手.现有的脑电波控制机械手方法在实时性、准确性方面无法满足实际的水下作业要求,提出了基于视觉诱发模式的ERP(事件相关电位)脑电信号来控制水下机械手的策略.通过融合脑电波控制与水下机械手作业的各自特点和优化ERP视觉诱发界面,使操作人员能够快速地完成给定任务.8位被试被邀请在建立的实验平台上进行控制实验,最终得到的辨识操作人员意图平均准确率、系统信息传输率与完成任务平均控制时间分别为91.5%、27.7 bits/min与90.1 s.与同类系统相比,本文所提控制策略系统性能更好,且作业效率满足实际作业要求. |
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其他语种文摘
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To free two hands of the underwater manipulator operator, the BCI (brain-computer interface) technology is applied to underwater operational tasks in this paper, where the manipulator follows instructions transformed from the brainwaves. As the current brainwave-based manipulator control methods can’t satisfy requirements for the actual underwater tasks in terms of real-time performance and accuracy, a control strategy is proposed for controlling the underwater manipulator via event-related potentials (ERP) of brainwaves (evoked by visual stimuli). The operator can quickly complete a given task after optimizing the visual evoked ERP interface and combining the characteristics of the brainwaves control and the underwater manipulator operation. Eight subjects are invited to conduct experiments on a self-developed experimental platform. The average accuracy of identifying an operator’s intention, the system information transfer rate and the average control time of completing the task are 91.5%, 27.7 bits/min and 90.1 s, respectively. Comparing with the similar systems, the system performance of the proposed control strategy is better, and the operational efficiency satisfies the practical operational requirements. |
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来源
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机器人
,2017,39(4):395-404 【核心库】
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DOI
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10.13973/j.cnki.robot.2017.0395
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关键词
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水下机械手
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复杂任务
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事件相关电位(ERP)
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脑-机接口(BCI)
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信息传输率(ITR)
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地址
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中国科学院沈阳自动化研究所, 机器人学国家重点实验室, 辽宁, 沈阳, 110016
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语种
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中文 |
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文献类型
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研究性论文 |
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ISSN
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1002-0446 |
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学科
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自动化技术、计算机技术 |
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基金
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国家重点研发计划项目
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中国科学院前沿科学重点研究项目
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国家自然科学基金重点项目
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文献收藏号
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CSCD:6179667
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32
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