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Comparative Study of SSVEP- and P300-Based Models for the Telepresence Control of Humanoid Robots
Zhao, Jing; Li W(李伟); Li, Mengfan
作者部门水下机器人研究室
发表期刊PLOS ONE
ISSN1932-6203
2015
卷号10期号:11页码:1-18
收录类别SCI
WOS记录号WOS:000364480900018
产权排序2
资助机构National Natural Science Foundation of China [61473207] ; Ph.D. Programs Foundation of the Ministry of Education of China [20120032110068]
摘要In this paper, we evaluate the control performance of SSVEP (steady-state visual evoked potential)- and P300-based models using Cerebot-a mind-controlled humanoid robot platform. Seven subjects with diverse experience participated in experiments concerning the open-loop and closed-loop control of a humanoid robot via brain signals. The visual stimuli of both the SSVEP-and P300-based models were implemented on a LCD computer monitor with a refresh frequency of 60 Hz. Considering the operation safety, we set the classification accuracy of a model over 90.0% as the most important mandatory for the telepresence control of the humanoid robot. The open-loop experiments demonstrated that the SSVEP model with at most four stimulus targets achieved the average accurate rate about 90%, whereas the P300 model with the six or more stimulus targets under five repetitions per trial was able to achieve the accurate rates over 90.0%. Therefore, the four SSVEP stimuli were used to control four types of robot behavior; while the six P300 stimuli were chosen to control six types of robot behavior. Both of the 4-class SSVEP and 6-class P300 models achieved the average success rates of 90.3% and 91.3%, the average response times of 3.65 s and 6.6 s, and the average information transfer rates (ITR) of 24.7 bits/min 18.8 bits/min, respectively. The closed-loop experiments addressed the telepresence control of the robot; the objective was to cause the robot to walk along a white lane marked in an office environment using live video feedback. Comparative studies reveal that the SSVEP model yielded faster response to the subject's mental activity with less reliance on channel selection, whereas the P300 model was found to be suitable for more classifiable targets and required less training. To conclude, we discuss the existing SSVEP and P300 models for the control of humanoid robots, including the models proposed in this paper.
语种英语
WOS标题词Science & Technology
WOS类目Multidisciplinary Sciences
关键词[WOS]BRAIN-COMPUTER INTERFACE ; EVOKED POTENTIALS ; STEADY-STATE ; BCI ; EEG
WOS研究方向Science & Technology - Other Topics
引用统计
被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/17314
专题水下机器人研究室
通讯作者Li W(李伟)
作者单位1.School of Electrical Engineering and Automation, Tianjin University, Tianjin, China
2.Department of Computer & Electrical Engineering and Computer Science, California State University, Bakersfield, California, United States of America
3.Robotics State Key Laborotory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China.
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GB/T 7714
Zhao, Jing,Li W,Li, Mengfan. Comparative Study of SSVEP- and P300-Based Models for the Telepresence Control of Humanoid Robots[J]. PLOS ONE,2015,10(11):1-18.
APA Zhao, Jing,Li W,&Li, Mengfan.(2015).Comparative Study of SSVEP- and P300-Based Models for the Telepresence Control of Humanoid Robots.PLOS ONE,10(11),1-18.
MLA Zhao, Jing,et al."Comparative Study of SSVEP- and P300-Based Models for the Telepresence Control of Humanoid Robots".PLOS ONE 10.11(2015):1-18.
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