Human Manipulator Shared Online Control Using Electrooculography
Human Manipulator Shared Online Control Using Electrooculography
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DOI：
10.1007/978-3-319-13966-1_28
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发表时间：
2014-12
期刊：
影响因子：
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通讯作者：
Jinhua Zhang;Baozeng Wang;Jun Hong;Ting Li;Feng Guo
中科院分区：
文献类型：
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作者：
Jinhua Zhang;Baozeng Wang;Jun Hong;Ting Li;Feng Guo
提出了一种基于眼电图（EOG）的7自由度关节机械手共享式在线控制方法。首先，在“眼动目标连续运动信息的眼电线性解码”课题中信号离线分析研究的基础上，提出了在线标定、分段处理和增量输出的信号在线处理方法。设计了人机交互界面，制定了控制策略，实现了机械手的平滑追踪眼球运动和眨眼控制。最后，进行了机械手末端运动路径控制实验，验证了控制方案的有效性。仿真和实验结果表明，该方法与理想路径吻合较好，证明了控制人手的有效性。这些新方法有望广泛应用于眼电控制人体机械手，帮助残疾人在实际的临床应用中提高残疾人的生活质量。
This paper presents a shared online control method of 7 Degrees- of-Freedom (DOF) articulated manipulator based on electrooculography (EOG). Firstly, based on the previous signal offline analysis research in “Linear Decoding of Eye Gazing Target Continuous Motion Information via Electrooculography”, the signal online processing methods are proposed here including online calibration, subsection processing and incremental output. Then, the interactive interface is designed and the control strategy is made to realize the manipulator is controlled by smooth pursuit eye movement and blink. Finally, the experiments of the manipulator end motion path control are carried out to verify the control scheme. The simulation and experimental results showed a good fit with the ideal path and demonstrated the effectiveness of control human manipulator. The new methods are expected to be widely used in control human manipulator with EOG to help disabled patients in practical clinical application to improve the quality of life of handicapped people.