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Human Cooperative Wheelchair with Brain Machine Interaction Based on Shared Control Strategy
文献类型：期刊论文
| 作者 | Li ZJ(李智军); Zhao, Suna; Su CY(苏春翌); Yang CG(杨辰光); Duan, Jiding; Zhao XG(赵新刚)
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| 刊名 | IEEE/ASME Transactions on Mechatronics
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| 出版日期 | 2017 |
| 卷号 | 22期号:1页码:185-195 |
| ISSN号 | 1083-4435 |
| 关键词 | Shared control brain-machine interfaces angle potential field vision-based SLAM |
| 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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