Human Cooperative Wheelchair with Brain Machine Interaction Based on Shared Control Strategy

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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)
刊名	IEEE/ASME Transactions on Mechatronics
	2017
卷号	22 期号:1 页码:185-195
关键词	Shared control brain-machine interfaces angle potential field vision-based SLAM
ISSN号	1083-4435
通讯作者	李智军
产权排序	1
中文摘要	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.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
研究领域[WOS]	Automation & Control Systems ; Engineering
关键词[WOS]	TIME OBSTACLE AVOIDANCE ; MOBILE ROBOTS ; DYNAMIC CONSTRAINTS ; EEG ; INTERFACE ; NETWORKS
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000395750100020
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/19230]
专题	沈阳自动化研究所_机器人学研究室
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.