Fuzzy-Based Shared Control for Brain-controlled Mobile Robot

摘要

Brain-Computer Interface (BCI) is a powerful communication tool between users and systems. It allows users, disabled by neuromuscular disorders such as amyotrophic lateral sclerosis, cerebral palsy, stroke, or spinal cord injury, to communicate with or control external devices using brain signals. However, due to limitations of BCIs, brain-controlled mobile robots have confined control performance and poor safety. To address this problem, this paper proposes a shared control method based on fuzzy logic control strategy. Particularly, to blend the tracking user intention and guaranteeing safety of brain-controlled mobile robots into an optimization problem, assistive controller based on fuzzy logic control is designed by using PID gains and fine tuning these gains of fuzzy controller by the trial-and-error method. The experimental results demonstrate the effectiveness of the proposed method in avoiding obstacles while maintaining the control authority of users.