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题名: Human Cooperative Wheelchair with Brain Machine Interaction Based on Shared Control Strategy
作者: 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
通讯作者: 李智军
关键词: Shared control ; brain-machine interfaces ; angle potential field ; vision-based SLAM
刊名: IEEE/ASME Transactions on Mechatronics
ISSN号: 1083-4435
出版日期: 2016
期号: 99
收录类别: EI
产权排序: 1
项目资助者: 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
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/19230
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
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,2016(99).
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文件名: Human Cooperative Wheelchair with Brain Machine Interaction Based on Shared Control Strategy.pdf
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