Coordination control strategy between human vision and wheelchair manipulator based on BCI

摘要

To assist activities of daily living, a wheelchair and its mounted manipulator is developed using a coordination control strategy in this paper. The coordination control strategy is composed of a operating intention express and identifying with EEG, locating objective based on EOG and head gesture and a human-robot interface. EEG is used to be acquired and identified the operating intention through user's motion imagery such as left and right legs, left and right hands and so on to express control instructions for the wheelchair and its mounted manipulator. EOG signals and user head gesture are used to locate the operating objective. The EEG and EOG identification systems are integrated in the human-robot interface effectively. Experimental results show that the coordination control strategy between human and wheelchair manipulator based on BCI is effectiveness and validity in assisting activities of daily living.