Multi-motion robots control based on bioelectric signals from single-channel dry electrode
Multi-motion robots control based on bioelectric signals from single-channel dry electrode
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DOI：
10.1177/0954411915570079
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发表时间：
2015-02
期刊：
影响因子：
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通讯作者：
H. Shen;Liang Hu;Kok-Meng Lee;Xin Fu
中科院分区：
文献类型：
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作者：
H. Shen;Liang Hu;Kok-Meng Lee;Xin Fu
本文提出了一种多运动控制系统，可帮助严重残疾人使用前额单通道干电极测量的颈缩生物电信号来操作辅助器具。与使用多通道湿电极的传统系统相比，单通道干电极多运动控制系统具有多种实用优势；其中的挑战之一是提取生物电特征的有效技术，以可靠地实现多自由度运动控制。利用单通道干电极测量的时间和频率特性，从与浓度要求和不同眨眼动作相关的多个特征信号中导出运动命令，用于两级控制策略，该策略已开发用于控制预定义的多自由度运动轨迹。测试范例旨在预先校准用户的特征信号，以统计地解释个体差异。然后对身体健全和残疾的志愿者进行了实验，以验证算法的普遍适用性。两种不同的眨眼特征信号的分类成功率约为 95%，执行浓度特征信号的平均时间为 2.4 s。基于单通道干电极的技术已在 6 自由度机器人手臂上得到验证，展示了其在帮助患有严重运动功能障碍的患者在日常生活中操作多运动辅助器具的巨大潜力，其中易用性是优先考虑的。
This article presents a multi-motion control system to help severe disabled people operate an auxiliary appliance using neck-up bioelectric signals measured by a single-channel dry electrode on the forehead. The single-channel dry-electrode multi-motion control system exhibits several practical advantages over its conventional counterparts that use multi-channel wet-electrodes; among the challenges is an effective technique to extract bioelectric features for reliable implementation of multi degrees-of-freedom motion control. Using both time and frequency characteristics of the single-channel dry-electrode measurements, motion commands are derived from multiple feature signals associated with concentration demands and different eye-blink actions for use in a two-level control strategy that has been developed to control predefined multi degrees-of-freedom motion trajectories. Test paradigms were designed to pre-calibrate the users’ feature signals to statistically account for individual variances. Experimental trials were then carried out on able-bodied and disabled volunteers to validate the universal applicability of the algorithms. The classification success rates for two different eye-blink feature signals were approximately 95% with an average time of 2.4 s for executing a concentration feature signal. The single-channel dry-electrode–based technique has been validated on a 6-degree-of-freedom robot arm demonstrating its significant potentials to help patients suffering severe motor dysfunctions operate a multi-motion auxiliary appliance in everyday living where the ease of use is a priority.