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Human Cooperative Wheelchair with Brain-Machine Interaction Based on Shared Control Strategy
Li ZJ(李智军); Zhao, Suna; Su CY(苏春翌); Yang CG(杨辰光); Duan, Jiding; Zhao XG(赵新刚)
作者部门机器人学研究室
关键词Shared Control Brain-machine Interfaces Angle Potential Field Vision-based Slam
发表期刊IEEE/ASME Transactions on Mechatronics
ISSN1083-4435
2017
卷号22期号:1页码:185-195
收录类别SCI ; EI
EI收录号20173304054176
WOS记录号WOS:000395750100020
产权排序1
资助机构National Natural Science Foundation of China grants Nos. 61573147, 91520201, and Guangzhou Research Collaborative Innovation Projects (No. 2014Y2-00507), Guangdong Science and Technology Research Collaborative Innovation Projects under Grant Nos. 2014B090901056, 2015B020214003, Guangdong Science and Technology Plan Project (Application Technology Research Foundation) No. 2015B020233006, and National High-Tech Research and Development Program of China (863 Program) (Grant No. 2015AA042303), and Foundation of State Key Laboratory of Robotics (No. 2014-o07).
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 brainmachine interface using steady state visual evoked potentials (SSVEP) is presented, which utilizes two brain signals to produce a polar polynomial trajectory (PPT). 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 (APF) and vision-based SLAM (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.

语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
关键词[WOS]Time Obstacle Avoidance ; Mobile Robots ; Dynamic Constraints ; Eeg ; Interface ; Networks
WOS研究方向Automation & Control Systems ; Engineering
引用统计
被引频次:7[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/173321/19230
专题机器人学研究室
通讯作者Li ZJ(李智军)
作者单位1.College of Automation Science and Engineering, South China University of Technology, Guangzhou, 510641, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式
GB/T 7714
Li ZJ,Zhao, Suna,Su CY,et al. Human Cooperative Wheelchair with Brain-Machine Interaction Based on Shared Control Strategy[J]. IEEE/ASME Transactions on Mechatronics,2017,22(1):185-195.
APA Li ZJ,Zhao, Suna,Su CY,Yang CG,Duan, Jiding,&Zhao XG.(2017).Human Cooperative Wheelchair with Brain-Machine Interaction Based on Shared Control Strategy.IEEE/ASME Transactions on Mechatronics,22(1),185-195.
MLA Li ZJ,et al."Human Cooperative Wheelchair with Brain-Machine Interaction Based on Shared Control Strategy".IEEE/ASME Transactions on Mechatronics 22.1(2017):185-195.
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