轮椅脑控算法研究与实验验证

Research and experimental verification of wheelchair brain control algorithm

摘要:

文章介绍了一种基于BCI实现轮椅运动控制的新型控制方法,研究了一种便携化的脑机接口范式,搭建了适用于普通轮椅的便携化脑机轮椅控制系统。系统根据脑电信号的自身特点,选用Emotiv公司的EPOC无线便携式脑电仪采集脑电电波信号,由单片机控制,实现脑电电波数据的处理,由集成两个无刷电机的制动器执行命令,选用ZD6716V3作为无刷电机的控制器,且每个电机中,都有一个霍尔传感器,提供来自电机的速度反馈信号,以精确获取每个电机的速度参数,并将电机集成在轮椅后轮上,实现轮椅速度和方向的控制。此外,进行了基于脑电识别率的控制方式实验、基于小车的脑控实验以及基于轮椅的脑控实验。实验结果表明脑电信号的准确率可以达到83%,满足实际使用需求。

Abstract:

This paper introduces a new control method for wheelchair motion control based on BCI, studies a portable brain-computer interface paradigm, and builds a portable brain-computer wheelchair control system for common wheelchairs.The system controlled by single-chip microcomputer, according to the characteristics of eeg signals, the selection of Emotiv EPOC of company wireless portable electrical brain all acquisition radio signals, use ArduinoUNO board as the microprocessor, realize the eeg data processing, the integration of two brushless motor brake execute commands, adopting ZD6716V3 brushless motor controller, and each of the motor, there is a hall sensor, provide feedback signals from the speed of the motor, to know exactly the speed of each motor, then the two motor integrated in a wheelchair on the rear wheels, realize the wheelchair control speed and direction.In addition, experimental research has been carried out, including the control mode experiment based on eeg recognition rate, the brain control experiment based on dolly and the brain control experiment based on wheelchair.The experimental results show that the accuracy of eeg can reach 83%, which can meet the practical needs.