An FDES-Based Shared Control Method for Asynchronous Brain-Actuated Robot
An FDES-Based Shared Control Method for Asynchronous Brain-Actuated Robot
复制标题
基于FDES的异步脑驱动机器人共享控制方法
DOI：
10.1109/tcyb.2015.2469278
复制
发表时间：
2016-06-01
影响因子：
11.8
通讯作者：
Zhang, Lin
中科院分区：
文献类型：
--
作者：
Liu, Rong;Wang, Yong-Xuan;Zhang, Lin
异步脑机接口(BCI)提供了更自然的人机交互。然而，对于没有先进控制方法的机器人来说，控制快速而复杂的运动序列仍然是不够的。提出了一种基于模糊离散事件系统(FDES)监督理论的新型共享控制器，用于脑驱动机器人的控制。发展的监控理论使更可靠的控制模式在机器人控制中发挥主导作用，有利于减少误操作，提高系统的鲁棒性。实验程序包括来自10名志愿者的实时直接手动控制和脑-机接口控制测试。实验结果表明，该方法显著提高了机器人控制的性能和鲁棒性。在一个在线的脑机接口实验中，八名参与者成功地控制了机器人绕过障碍物，并以三种精神状态异步脑机接口到达目标，而另外两名参与者在所有的脑机接口控制会话中都失败了。此外，基于FDES的共享控制方法也有助于减少工作量。可以说，异步脑-机接口与基于FDES的共享控制器相结合，对于机器人的实时和鲁棒控制是可行的。
The asynchronous brain-computer interface (BCI) offers more natural human-machine interaction. However, it is still considered insufficient to control rapid and complex sequences of movements for a robot without any advanced control method. This paper proposes a new shared controller based on the supervisory theory of fuzzy discrete event system (FDES) for brain-actuated robot control. The developed supervisory theory allows the more reliable control mode to play a dominant role in the robot control which is beneficial to reduce misoperation and improve the robustness of the system. The experimental procedures consist of real-time direct manual control and BCI control tests from ten volunteers. Both tests have shown that the proposed method significantly improves the performance and robustness of the robotic control. In an online BCI experiment, eight of the participants successfully controlled the robot to circumnavigate obstacles and reached the target with a three mental states asynchronous BCI while the other two participants failed in all the BCI control sessions. Furthermore, the FDES-based shared control method also helps to reduce the workload. It can be stated that the asynchronous BCI, in combination with FDES-based shared controller, is feasible for the real-time and robust control of robotics.