EEG correlates of motor control difficulty in physical human-robot interaction: A frequency domain analysis
EEG correlates of motor control difficulty in physical human-robot interaction: A frequency domain analysis
复制标题
脑电图与人机交互中运动控制难度的相关性：频域分析
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
E. Esfahani
中科院分区：
文献类型：
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作者：
Amirhossein H. Memar;E. Esfahani
本研究探讨了在与导纳控制机器人进行物理交互时脑电图活动与运动控制困难的关系。实验对象完成精细协同操作任务，通过改变导纳动态来控制运动控制难度。为了量化运动控制难度，提出了基于相互作用力谱信息的相互作用不稳定性指标。然后进行回归分析，构建基于脑电频谱特征的运动控制难度估计模型。结果表明，脑电信号作为pHRI运动控制困难指标的可靠性。
This study investigates the relationship between electroencephalogram (EEG) activity and motor control difficulty during physical interaction with an admittance controlled robot. Subjects performed a fine cooperative manipulation task, in which the motor control difficulty was manipulated by altering admittance dynamics. To quantify motor control difficulty, an interaction instability index is proposed based on the spectral information of interaction forces. Regression analysis is then performed to construct a model to estimate motor control difficulty from EEG spectral features. The results indicate the reliability of EEG signals as an indicator of motor control difficulty in pHRI.