CN105955486A - Method for assisting teleoperation based on visual stimulation of brainwaves - Google Patents
Method for assisting teleoperation based on visual stimulation of brainwaves Download PDFInfo
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- CN105955486A CN105955486A CN201610323423.6A CN201610323423A CN105955486A CN 105955486 A CN105955486 A CN 105955486A CN 201610323423 A CN201610323423 A CN 201610323423A CN 105955486 A CN105955486 A CN 105955486A
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- manipulator
- teleoperation
- eeg signal
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
- A61B5/165—Evaluating the state of mind, e.g. depression, anxiety
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
- A61B5/18—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state for vehicle drivers or machine operators
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/369—Electroencephalography [EEG]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/011—Emotion or mood input determined on the basis of sensed human body parameters such as pulse, heart rate or beat, temperature of skin, facial expressions, iris, voice pitch, brain activity patterns
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Abstract
The invention discloses a method for assisting teleoperation based on visual stimulation of brainwaves. During teleoperation, the emotions of an operator are continuously affected by external factors. The method aims to sense emotional changes of the operator in a real time manner, reduce the effects of human factors on a master terminal, and improve the teleoperation stability. The method provided by the invention has the advantages that the operation difficulty and fatigue degree of the teleoperation operator in the prior art are reduced, so that the operation stability of the master terminal during the teleoperation is improved; the emotional changes of the operator can be sensed in a real time manner, and brainwave signals of the operator are added into a teleoperation circuit, so that the entire teleoperation circuit can promptly formulate a corresponding strategy, which is a brand new method in the teleoperation field.
Description
[technical field]
The invention belongs to teleoperation, biomedical engineering and artificial intelligence field, relate to a kind of based on regarding
Feel the method for brain wave excited auxiliary remote operating.
[background technology]
Teleoperation plays day at numerous areas such as such as robot for space, high accuracy assembling, operations
The role that benefit is important.In remote control system, operator is by interacting with distal environment from the mechanical arm of end.
On the one hand teleoperation can provide the environment of a safety to operator, on the other hand can carry to operator
For the strongest telepresenc.But when the telepresenc provided during remote operating, the emotion of operator is usually
Carried out degree by task environment and task to be affected, produce nervous, tired and irritated etc. being unfavorable for and operate main side
State.Meanwhile, in conjunction with the research of biomedical engineering in recent years, the change of human emotion, Ke Yi are shown
Brain electricity induces the signal of telecommunication of varying strength.Brain-computer interface technology is utilized to grasp operator's emotion during manipulation
Change, gather manipulator's eeg signal in operation, be added into remote operating loop so that distant
Operating process preferably sense operation person can be affected by extraneous factor during manipulation and be caused emotion
The change produced, during effectively reducing remote operating, main side is affected by anthropic factor, makes operator more preferable
Complete manipulation tasks.
[summary of the invention]
It is an object of the invention to solve above-mentioned the problems of the prior art, it is provided that a kind of view-based access control model excites brain electricity
The method of ripple auxiliary remote operating, the method is during remote operating, and the emotion of manipulator is constantly by extraneous factor
Impact, for the change of real-time perception manipulator's emotion, reducing main side is affected by anthropic factor, improves
The stability of remote operating.
To achieve these goals, the present invention is achieved by the following technical solutions:
The method of a kind of view-based access control model brain wave excited auxiliary remote operating, comprises the following steps:
1) eeg signal harvester is arranged on the head of manipulator；
2) during remote operating, by sensor, the task environment from end is transferred to the task environment of main side
Display/sensor, manipulator, by checking that task environment shows/sensor, causes eeg signal and produces change
Change；
3) gather manipulator's eeg signal by eeg signal harvester, eeg signal is transferred to meter
Calculation machine I carries out data analysis, by being analyzed the eeg signal collected, analyzes the feelings of manipulator
Whether thread reaches to affect the threshold value that remote operating is carried out safely；
4) if the eeg signal intensity collected has exceeded the threshold value that the remote operating set is carried out safely, then recognize
For the emotional instability of manipulator, then perform step 5) or step 6)；
5) by computer I to the impedance Z in formula (1)mIt is adjusted:
Fm=ZmVm (1)
In formula (1), FmThe active force being subject to for main side, VmFor main side speed；
At FmIn the case of short time is constant, increase Zm, make VmReduce, thus reduce the operation speed of manipulator
Degree, reminds manipulator's own self emotion unstable simultaneously, is badly in need of adjusting, to ensure that the safety of task is carried out；
6) for specific tasks, set up virtual pipe, in the face of the timing of manipulator's emotional lability, assign auxiliary life
Order, utilizes virtual pipe to guide manipulator to complete manipulation tasks, reduces degree of fatigue and the anxiety of manipulator
Emotion.
Compared with prior art, the method have the advantages that
The present invention, by being analyzed the eeg signal of the manipulator collected, analyzes the emotion of manipulator
Whether reach to affect the threshold value that remote operating is carried out safely, auxiliary operation person manipulate, during reducing manipulation
The impact of anthropic factor；The present invention, by the regulation to impedance, changes the manipulation speed of manipulator, reminds simultaneously
Manipulator adjusts mood, keeps the stability of manipulation.Finally, the eeg signal of manipulator is added by the present invention
In remote operating loop, the emotion changes of real-time perception manipulator, make whole remote operating loop make corresponding plan in time
Slightly, it is a kind of brand-new method in remote operating field.
[accompanying drawing explanation]
Fig. 1 is the flow chart of the method for view-based access control model brain wave excited auxiliary remote operating.
[detailed description of the invention]
Below in conjunction with the accompanying drawings the present invention is described in further detail:
See Fig. 1, the method for view-based access control model of the present invention brain wave excited auxiliary remote operating, comprise the following steps:
Eeg signal harvester is arranged on the head of manipulator by step 1；
Task environment from end, during remote operating, is transferred to the task ring of main side by step 2 by sensor
Border shows/sensor, manipulator by checking that task environment shows/sensor, cause in operating process nervous and
The change of the emotions such as fatigue, thus cause eeg signal and produce bigger change；
Step 3 gathers manipulator's eeg signal by eeg signal harvester, is transferred to by eeg signal
Computer I carries out data analysis, by being analyzed the eeg signal collected, analyzes manipulator's
Whether emotion reaches to affect the threshold value that remote operating is carried out safely；
If the eeg signal intensity that step 4 collects has exceeded the threshold value that the remote operating set is carried out safely, then
There are two kinds of methods to ensure being smoothed out of task.
1) by computer I to the impedance Z in formula (1)mIt is adjusted:
Fm=ZmVm (1)
In formula (1), FmThe active force being subject to for main side, VmFor main side speed.
Owing to the emotion of now manipulator has become unstable, need to reduce main side speed, at FmShort time is not
In the case of change, increase Zm, make VmReduce, thus reduce the speed of operation of manipulator, also remind behaviour simultaneously
Control person's own self emotion is unstable, is badly in need of adjusting, to ensure that the safety of task is carried out.
2) for specific tasks, set up virtual pipe, in the face of the timing of manipulator's emotional lability, assign auxiliary life
Order, utilizes virtual pipe to guide manipulator to complete manipulation tasks, reduces degree of fatigue and the anxiety of manipulator
Emotion；Otherwise, then operation continues to be normally carried out.
Above content is only the technological thought that the present invention is described, it is impossible to limit protection scope of the present invention with this, all
It is the technological thought proposed according to the present invention, any change done on the basis of technical scheme, each fall within this
Within the protection domain of bright claims.
Claims (1)
1. the method for a view-based access control model brain wave excited auxiliary remote operating, it is characterised in that comprise the following steps:
1) eeg signal harvester is arranged on the head of manipulator；
2) during remote operating, by sensor, the task environment from end is transferred to the task environment of main side
Display/sensor, manipulator, by checking that task environment shows/sensor, causes eeg signal and produces change
Change；
3) gather manipulator's eeg signal by eeg signal harvester, eeg signal is transferred to meter
Calculation machine I carries out data analysis, by being analyzed the eeg signal collected, analyzes the feelings of manipulator
Whether thread reaches to affect the threshold value that remote operating is carried out safely；
4) if the eeg signal intensity collected has exceeded the threshold value that the remote operating set is carried out safely, then recognize
For the emotional instability of manipulator, then perform step 5) or step 6)；
5) by computer I to the impedance Z in formula (1)mIt is adjusted:
Fm=ZmVm (1)
In formula (1), FmThe active force being subject to for main side, VmFor main side speed；
At FmIn the case of short time is constant, increase Zm, make VmReduce, thus reduce the operation speed of manipulator
Degree, reminds manipulator's own self emotion unstable simultaneously, is badly in need of adjusting, to ensure that the safety of task is carried out；
6) for specific tasks, set up virtual pipe, in the face of the timing of manipulator's emotional lability, assign auxiliary life
Order, utilizes virtual pipe to guide manipulator to complete manipulation tasks, reduces degree of fatigue and the anxiety of manipulator
Emotion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610323423.6A CN105955486A (en) | 2016-05-16 | 2016-05-16 | Method for assisting teleoperation based on visual stimulation of brainwaves |
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| CN201610323423.6A CN105955486A (en) | 2016-05-16 | 2016-05-16 | Method for assisting teleoperation based on visual stimulation of brainwaves |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111176503A (en) * | 2019-12-16 | 2020-05-19 | 珠海格力电器股份有限公司 | Interactive system setting method and device and storage medium |
| CN111958618A (en) * | 2020-08-31 | 2020-11-20 | 曹栋杰 | Active emergency stop method |
| CN112101285A (en) * | 2020-09-25 | 2020-12-18 | 西安交通大学 | Induction paradigm design and electroencephalogram identification method for typical mental state of remote operator of explosive-handling robot |
| CN113349781A (en) * | 2021-05-21 | 2021-09-07 | 西安交通大学 | Electroencephalogram capture method and system for typical mental state of operator |
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| US20080103639A1 (en) * | 2006-10-25 | 2008-05-01 | The Boeing Company | Systems and Methods for Haptics-Enabled Teleoperation of Vehicles and Other Devices |
| CN103207566A (en) * | 2013-01-18 | 2013-07-17 | 西北工业大学 | Space teleoperation method dynamically assisted by speed type virtual force feedback |
| CN103218034A (en) * | 2012-01-19 | 2013-07-24 | 联想(北京)有限公司 | Application object adjusting method and electronic device |
| CN104391569A (en) * | 2014-10-15 | 2015-03-04 | 东南大学 | Brain-machine interface system based on cognition and emotional state multi-mode perception |
| CN105242533A (en) * | 2015-09-01 | 2016-01-13 | 西北工业大学 | Variable-admittance teleoperation control method with fusion of multi-information |
| CN105549743A (en) * | 2016-01-18 | 2016-05-04 | 中国医学科学院生物医学工程研究所 | Robot system based on brain-computer interface and implementation method |
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2016
- 2016-05-16 CN CN201610323423.6A patent/CN105955486A/en active Pending
Patent Citations (6)
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| US20080103639A1 (en) * | 2006-10-25 | 2008-05-01 | The Boeing Company | Systems and Methods for Haptics-Enabled Teleoperation of Vehicles and Other Devices |
| CN103218034A (en) * | 2012-01-19 | 2013-07-24 | 联想(北京)有限公司 | Application object adjusting method and electronic device |
| CN103207566A (en) * | 2013-01-18 | 2013-07-17 | 西北工业大学 | Space teleoperation method dynamically assisted by speed type virtual force feedback |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111176503A (en) * | 2019-12-16 | 2020-05-19 | 珠海格力电器股份有限公司 | Interactive system setting method and device and storage medium |
| CN111958618A (en) * | 2020-08-31 | 2020-11-20 | 曹栋杰 | Active emergency stop method |
| CN112101285A (en) * | 2020-09-25 | 2020-12-18 | 西安交通大学 | Induction paradigm design and electroencephalogram identification method for typical mental state of remote operator of explosive-handling robot |
| CN112101285B (en) * | 2020-09-25 | 2023-03-31 | 西安交通大学 | Induction paradigm design and electroencephalogram identification method for typical mental state of remote operator of explosive-handling robot |
| CN113349781A (en) * | 2021-05-21 | 2021-09-07 | 西安交通大学 | Electroencephalogram capture method and system for typical mental state of operator |
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Application publication date: 20160921 |