一种基于SSVEP的仿人机器人异步脑机接口控制系统

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引用本文:
邓志东, 李修全, 郑宽浩, 姚文韬. 一种基于SSVEP的仿人机器人异步脑机接口控制系统[J]. 机器人, 2011, 33(2): 129-135.. DENG Zhidong, LI Xiuquan, ZHENG Kuanhao, YAO Wentao. A Humanoid Robot Control System with SSVEP-based Asynchronous Brain-Computer Interface. ROBOT, 2011, 33(2): 129-135..

摘要设计了稳态视觉诱发电位（SSVEP）空闲状态检测的特征提取方法，建立了基于SSVEP的异步脑机接口二级分类器结构，开发了基于TI CC2430芯片的无线传感器网络模块，实现了机器人控制命令的远程传送，使该仿人机器人系统具有脑电控制、语音交互、游戏手柄交互、机器视觉与避障等功能.通过SSVEP空闲状态检测实验验证了脑机接口系统异步控制的有效性.

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	邓志东
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关键词 ：仿人机器人, 稳态视觉诱发电位, 脑机接口, 无线传感器网络

Abstract：A feature extraction method is proposed for steady-state visual evoked potential(SSVEP) idle state detection. By designing a two-level classifier structure,SSVEP-based asynchronous brain-computer interface(BCI) is established. A wireless sensor network(WSN) hardware node embedded with TI CC2430 is implemented for remote transmission of robot control command.The developed humanoid robot control system has multiple control modes,such as mind control, voice interaction,joystick input,machine vision,and obstacle avoidance.The effectiveness of brain-computer interface asynchronous control is validated through experiments on SSVEP idle-state detection.

Key words： humanoid robot steady-state visual evoked potential(SSVEP) brain-computer interface(BCI) wireless sensor network(WSN)

收稿日期: 2010-04-16 录用日期: 2010-12-27

TP391.4

基金资助:国家自然科学基金资助项目（60775040，90820305）；中国科学院自动化研究所模式识别国家重点实验室开放合作基金资助项目.

通讯作者: 邓志东 E-mail: michael@mail.tsinghua.edu.cn

作者简介: 邓志东（1966- ），男，博士，教授，博士生导师.研究领域：机器人，智能控制，无线传感器网络等．
李修全（1976- ），男，博士生.研究领域：智能处理．
郑宽浩（1985- ），男，本科.研究领域：机器人.

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I2/129

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