CN102789316A - Control method for movement of two-dimensional cursor of brain machine interface based on motor imageries - Google Patents
Control method for movement of two-dimensional cursor of brain machine interface based on motor imageries Download PDFInfo
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Abstract
The invention discloses a control method for the movement of a two-dimensional cursor of a brain machine interface based on motor imageries, which only selects three types of motor imageries. The control method comprises the following steps of: 1, an electroencephalograph of a subject is transmitted to signal amplifying equipment through an electrode on an electrode cap; 2, the signal amplifying equipment amplifies and preprocesses the signal; 3, a computer terminal carries out feature extraction on the electroencephalograph by adopting a common spatial pattern algorithm; 4, pattern classification is carried out by using a support vector machine algorithm to obtain three output probabilities; 5, control command distribution and command translation are carried out on classified results by applying a control method for mapping the probabilities to vectors and combining the vectors; and 6, a translated control command is transmitted to a cursor control interface, and the movement of a cursor is displayed according to the control command to finish the whole control process. The control method has the beneficial effects that the movement of the two-dimensional cursor in a plane is controlled by adopting the three types of motor imageries, the imaginary burden of the subject is reduced, the use by the subject is facilitated, and the application field of a BCI (Brain Computer Interface) system is broadened.
Description
Technical field
The present invention relates to the control method in a kind of biomedical engineering, computing machine and Signal and Information Processing field, be specifically related to a kind of control method based on the motion of motion imagination brain-computer interface two dimensional cursor.
Background technology
In recent years, brain-computer interface technology (BCI) received much concern.Brain-computer interface (BCI) is a kind of man machine interface's technology of novelty, and in the BCI system, the individual sends to the information in the external world and do not pass through normal nervus peripheralis of brain and muscle output pathway with order.Utilize this advanced person's interchange technology to control exterior object through human brain and in plane (two dimension) or space (three-dimensional), move, and reach the control effect of " thing is with aroused in interest ", be the hot issue of this area research always.
BCI based on the motion imagination (MI) utilizes the μJie Lv and the beta rhythm and pace of moving things to convert experimenter's imagination activity to actual command.
In the prior art, the method for using the brain-computer interface system to accomplish cursor control comprises following steps:
Step 1, on experimenter's head, wear electrode cap and carry out the three type games imaginations, the EEG signals with the experimenter are transferred to signal amplifying apparatus through the electrode on the electrode cap that is fixed on its brain then.
After step 3, signal amplification and the pre-service, signal is carried out feature extraction with common space pattern (CSP) algorithm in computer terminal.
On the cursor control interface of step 6, the steering order transmission after will translating at last, accomplish whole control process.
But its shortcoming is that its command number that provides is limited usually, if increase the output command kind, accuracy rate can descend, and can increase the weight of experimenter's mental burden.Take all factors into consideration, the three type games imagination is a best choice.But when the motion of control two dimensional cursor; Usually need two control commands respectively be provided in level and vertical direction; Use three type games imagination brain-computer interface can lack one type of control command; If control, then can improve requirement, prolong cycle of training to the experimenter to the experimenter and use the output of four type games imagination brain-computer interface to order for four kinds.Therefore; If can find a kind of appropriate control method; Can be issued in limited control command quantity and control effect preferably, can let the experimenter need not carry out too much training again, reduce its mental burden when imagining of moving; To promote the BCI technology and be applied to reality, the scope of expansion BCI technology practical application.
Summary of the invention
The present invention provides a kind of control method based on the motion of motion imagination brain-computer interface two dimensional cursor, utilizes the three type games imagination, realizes that the control two dimensional cursor planar moves, and alleviates experimenter's burden, controls respond well.
For realizing above-mentioned purpose, the present invention provides a kind of control method based on the motion of motion imagination brain-computer interface two dimensional cursor, is characterized in that this control method is only chosen the three type games imagination; This control method comprises following steps:
Step 1, experimenter put on electrode cap and carry out the three type games imaginations, and experimenter's EEG signals are transferred to signal amplifying apparatus through the electrode on the electrode cap that is fixed on its brain;
Step 5.1, to define three output probabilities that the vector machine algorithm carries out after the pattern classification respectively be first output probability, second output probability, the 3rd output probability, and jump to step 5.2;
Step 5.2, first output probability, second output probability and the 3rd output probability are mapped to three vectors in the plane respectively according to the size of its probable value, and the angle of definition between adjacent vector be 120 degree, and jump to step 5.3;
Step 5.3, respectively three plane vectors are calculated its resultant vector in this face, and with the resultant vector of gained as final imagination result's output, and jump to step 5.4;
Through the plane vector after the mapping, its length is by each self-corresponding probable value size decision;
Step 5.4, resultant vector and cursor carry out synchronous displacement and convert, and confirm direction and distance that cursor moves, and definition cursor mobile component in the horizontal direction is dx, and the mobile component of vertical direction is dy, and the minimum single step step-length that is defined on the screen is L;
Step 5.4.1, calculating cursor mobile component dx in the horizontal direction, the computing formula that moves horizontally component dx is following:
Wherein, dx is a cursor mobile component in the horizontal direction, and P2 is second output probability, and P1 is first output probability, and L is the minimum single step step-length of cursor on screen;
Calculate cursor mobile component dx in the horizontal direction according to following formula, and jump to step 5.4.2;
The direction of step 5.4.2, judgement cursor mobile component dx in the horizontal direction;
If dx greater than 0, then defines cursor and moves right;
If dx equals 0, then define cursor non-displacement in the horizontal direction;
If dx less than 0, then defines cursor and is moved to the left;
Confirm cursor moving direction in the horizontal direction, and jump to step 5.4.3;
The mobile component dy of step 5.4.3, calculating cursor in the vertical direction, vertically the computing formula of mobile component dy is following:
Wherein, dy is the mobile component of cursor at vertical direction, and P2 is second output probability, and P1 is first output probability, and P3 is the 3rd output probability, and L is the minimum single step step-length of cursor on screen;
Calculate the mobile component dy of cursor according to following formula, and jump to step 5.4.4 at vertical direction;
Step 5.4.4, judge the direction of cursor at the mobile component dy of vertical direction;
If dy greater than 0, then defines cursor and moves up;
If dy equals 0, then define cursor in the vertical direction non-displacement;
If dy less than 0, then defines cursor and moves down;
Confirm the moving direction of cursor, and jump to step 6 at vertical direction;
Steering order after step 6, the translation transfers to cursor control interface, according to moving of steering order display highlighting, accomplishes whole control process.
In the above-mentioned steps 1, electrode cap adopts 11 crosslinking electrodes to gather EEG signals, and this 11 leads and be respectively FC3, FCZ, FC4, C3, C1, CZ, C2, C4, CP3, CPZ, CP4.
In the above-mentioned steps 2, pre-service comprises with 256 hertz samples to data, these data is carried out the bandpass filtering of 5-30 hertz again.
The first above-mentioned output probability, second output probability, the 3rd output probability representative system respectively judge that the left hand that current experimenter carries out is imagined, the right hand is imagined and the probability of the pin imagination.
Above-mentioned experimenter only need stress to carry out the motion imagination output resultant vector at two positions of health when moving the imagination.
The present invention is a kind of to be compared based on the control method of motion imagination brain-computer interface two dimensional cursor motion and the motion imagination control technology of prior art; Its advantage is; The present invention adopts three types motion imagination classification results control two dimensional cursor moving planar; Need the restriction of four types of order outputs when having overcome traditional BCI control two dimensional cursor, alleviated the extra imagination burden of experimenter, made things convenient for experimenter's use; Reached let the experimenter control cursor on the plane voluntomotory excellent control effect, widened the application of BCI system;
The signal that the present invention utilizes human brain to send, the two dimensional motion of control cursor does not need the user to lift up one's voice, and also need not leave only needs the motion at certain position of simple imagination health in any one position of body, just can control the two dimensional cursor motion;
Control method of the present invention, the experimenter only needs the final position of arriving at according to the cursor needs when the motion of control two dimensional cursor; Stress to carry out the motion imagination output resultant vector at two positions of health; Just can control cursor and planar move, three types the motion imagination can satisfy the motion of cursor on all directions fully, has guaranteed the effect of control; No longer needing simultaneously provides four types of orders to go to control to level and vertical direction separately, has reduced the difficulty of control and experimenter's mental burden.
Description of drawings
Fig. 1 is a kind of method flow diagram of imagining the control method of brain-computer interface two dimensional cursor motion based on motion of the present invention;
Fig. 2 imagines the P value mapping synoptic diagram of the control method of brain-computer interface two dimensional cursor motion based on motion for the present invention is a kind of;
Fig. 3 is a kind of probability array output of P value and vectorial exemplary plot of imagining the control method of brain-computer interface two dimensional cursor motion based on motion of the present invention;
Fig. 4 is for ignoring the probability array output resultant vector synoptic diagram after negative influence is imagined in a kind of control method based on the motion of motion imagination brain-computer interface two dimensional cursor of the present invention.
Embodiment
Below in conjunction with accompanying drawing, further specify specific embodiment of the present invention.
The present invention provides a kind of control method based on the motion of motion imagination brain-computer interface two dimensional cursor; This control method is chosen brain-computer interface (BCI) system of the three type games imagination as the basis; Under the prerequisite that does not increase imagination classification, realize control to two dimensional cursor.
In the present embodiment, the above-mentioned three type games imagination adopts the motion imagination of left hand, the right hand and foot.The motion of the above-mentioned foot imagination is the both feet imagination of moving simultaneously, so be defined as foot among the present invention.
As shown in Figure 1, should comprise following steps based on the control method of motion imagination brain-computer interface two dimensional cursor motion:
Step 1, experimenter put on electrode cap, and experimenter's EEG signals are transferred to signal amplifying apparatus through the electrode on the electrode cap that is fixed on its brain.
Among the present invention, adopt to meet (the FC3 FCZ FC4 C3 C1 CZ C2 C4 CP3 CPZ CP4) electrode that leads of 11 in " the 10-20 international standard lead system " that international electroencephalogram association formulates and gather EEG signals.
Among the present invention, adopt brain tele-release large equipment record data, with 256 hertz data are sampled then, again these data are carried out the bandpass filtering of 5-30 hertz.
After step 3, signal amplification and the pre-service, signal is transferred to computer terminal, and in computer terminal, carry out feature extraction with common space pattern (CSP) algorithm.
Step 5.1, define three output probabilities that vector machine (SVM) algorithm carries out after the pattern classification respectively and be respectively the first output probability P1, the second output probability P2, the 3rd output probability P3; These three output probabilities representative system are respectively judged the probability of the left hand imagination, the right hand imagination and the pin imagination that current experimenter carries out, and jump to step 5.2.
Step 5.2, as shown in Figure 2; The first output probability P1, the second output probability P2 and the 3rd output probability P3 are mapped to three vectors in the plane respectively according to the size of its probable value; And the angle between the definition adjacent vector is 120 degree, and jumps to step 5.3.
Each plane vector after step 5.3, the process mapping, its length is by each self-corresponding probable value size decision.Respectively three plane vectors are calculated its resultant vector in this face, and the resultant vector of gained is exported as final imagination result, and jump to step 5.4.
Through P value change and mapping policy after, the resultant vector that three probability vectors can be combined into any direction is as a result of exported.
In the present invention, the experimenter only need stress to carry out the motion imagination output resultant vector at two positions of health when moving the imagination.
As shown in Figure 3, in the present embodiment: cursor is moved to final position B from reference position A, and the experimenter need be through the motion imagination with the first output probability P1, and the second output probability P2 and the 3rd output probability P3 are combined into resultant vector Vc in the definite object position.But under situation shown in Figure 3, the 3rd output probability P3 provides the negative influence for this task, and is so if under this task, the 3rd output probability P3 value is less, then less to the realization influence of whole task.
The illustrated method of the present invention needs the experimenter to carry out the three type games imagination simultaneously; But in actual task; The mental burden and the difficulty of carrying out three type games imagination task simultaneously are very big; Therefore can let the experimenter neglect the type games imagination as the case may be, only need carry out two types the motion imagination simultaneously.
As shown in Figure 4, in the present embodiment, the experimenter only need carry out the first output probability P1 and the second output probability P2 simultaneously, and this first output probability P1 and the second output probability P2 represent experimenter's the left hand motion imagination and the right hand motion imagination respectively.
The experimenter stresses in right hand motion, and promptly the imagination of the second output probability P2 can reduce the value of the 3rd output probability P3 like this, also the negative influence of task is dropped to minimumly, has also reduced experimenter's mental burden and imagination difficulty simultaneously.By that analogy, when the task of other directions, can ignore equally and this type games in the opposite direction imagination.
The array output of step 5.4, three different P values is a resultant vector, in the mobile control of cursor, also needs this resultant vector and cursor are carried out synchronous displacement conversion, with this direction and distance that decides last cursor to move.Therefore, we define cursor mobile component in the horizontal direction is dx, and the mobile component of vertical direction is dy, and the minimum single step step-length that is defined in simultaneously on the screen is L.
Step 5.4.1, calculating cursor mobile component dx in the horizontal direction.
The computing formula that moves horizontally component dx is following:
Wherein, dx is a cursor mobile component in the horizontal direction, and P2 is second output probability, and P1 is first output probability, and L is the minimum single step step-length of cursor on screen.
Calculate cursor mobile component dx in the horizontal direction according to following formula, and jump to step 5.4.2.
The direction of step 5.4.2, judgement cursor mobile component dx in the horizontal direction.
If dx greater than 0, then defines cursor and moves right.
If dx equals 0, then define cursor non-displacement in the horizontal direction.
If dx less than 0, then defines cursor and is moved to the left.
Confirm cursor moving direction in the horizontal direction, and jump to step 5.4.3.
The mobile component dy of step 5.4.3, calculating cursor in the vertical direction.
Vertically the computing formula of mobile component dy is following:
Wherein, dy is the mobile component of cursor at vertical direction, and P2 is second output probability, and P1 is first output probability, and P3 is the 3rd output probability, and L is the minimum single step step-length of cursor on screen.
Calculate the mobile component dy of cursor according to following formula, and jump to step 5.4.4 at vertical direction.
Step 5.4.4, judge the direction of cursor at the mobile component dy of vertical direction.
If dy greater than 0, then defines cursor and moves up.
If dy equals 0, then define cursor in the vertical direction non-displacement.
If dy less than 0, then defines cursor and moves down.
Confirm the moving direction of cursor, and jump to step 6 at vertical direction.
Through after the top control method, the experimenter only needs the final position arrived at according to the cursor needs when the motion of control two dimensional cursor, stress to carry out the motion imagination output resultant vector at two positions of health, just can control cursor and planar move.Three types the motion imagination can satisfy the motion of cursor on all directions fully, has guaranteed the effect of control, and no longer needing simultaneously provides four types of orders to go to control to level and vertical direction separately, has reduced the difficulty of control and experimenter's mental burden.
Although content of the present invention has been done detailed introduction through above-mentioned preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple modification of the present invention with to substitute all will be conspicuous.Therefore, protection scope of the present invention should be limited appended claim.
Claims (6)
1. the control method based on the motion of motion imagination brain-computer interface two dimensional cursor is characterized in that this control method is only chosen the three type games imagination; This control method comprises following steps:
Step 1, experimenter put on electrode cap and carry out the three type games imaginations, and experimenter's EEG signals are transferred to signal amplifying apparatus through the electrode on the electrode cap that is fixed on its brain;
Step 2, signal amplifying apparatus amplify and Signal Pretreatment signal;
Step 3, computer terminal adopt the common space pattern algorithm that EEG signals are carried out feature extraction;
Step 4, use algorithm of support vector machine carry out pattern classification, obtain three output probabilities;
Step 5, sorted result use a kind of probability combination and are mapped to vectorial control method and carry out control command distribution and instruction translation;
Step 5.1, to define three output probabilities that the vector machine algorithm carries out after the pattern classification respectively be first output probability (P1), second output probability (P2), the 3rd output probability (P3), and jump to step 5.2;
Step 5.2, first output probability (P1), second output probability (P2) and the 3rd output probability (P3) are mapped to three vectors in the plane respectively according to the size of its probable value, and the angle of definition between adjacent vector be 120 degree, and jump to step 5.3;
Step 5.3, respectively three plane vectors are calculated its resultant vector in this face, and with the resultant vector of gained as final imagination result's output, and jump to step 5.4;
Through the plane vector after the mapping, its length is by each self-corresponding probable value size decision;
Step 5.4, resultant vector and cursor carry out synchronous displacement and convert, and confirm direction and distance that cursor moves, and definition cursor mobile component in the horizontal direction is dx, and the mobile component of vertical direction is dy, and the minimum single step step-length that is defined on the screen is L;
Steering order after step 6, the translation transfers to cursor control interface, according to moving of steering order display highlighting, accomplishes whole control process.
2. a kind of control method as claimed in claim 1 based on the motion of motion imagination brain-computer interface two dimensional cursor; It is characterized in that; In the said step 1; Described electrode cap adopts 11 crosslinking electrodes to gather EEG signals, and this 11 leads and be respectively FC3, FCZ, FC4, C3, C1, CZ, C2, C4, CP3, CPZ, CP4.
3. a kind of control method as claimed in claim 1 based on the motion of motion imagination brain-computer interface two dimensional cursor; It is characterized in that; In the said step 2, described pre-service comprises with 256 hertz samples to data, these data is carried out the bandpass filtering of 5-30 hertz again.
4. a kind of control method as claimed in claim 1 based on the motion of motion imagination brain-computer interface two dimensional cursor; It is characterized in that described first output probability (P1), second output probability (P2), the 3rd output probability (P3) representative system respectively judge that the left hand that current experimenter carries out is imagined, the right hand is imagined and the probability of the pin imagination.
5. a kind of control method based on the motion of motion imagination brain-computer interface two dimensional cursor as claimed in claim 1 is characterized in that, described experimenter only need stress to carry out the motion imagination output resultant vector at two positions of health when moving the imagination.
6. a kind of control method based on the motion of motion imagination brain-computer interface two dimensional cursor as claimed in claim 1 is characterized in that described step 5.4 comprises following steps:
Step 5.4.1, calculating cursor mobile component dx in the horizontal direction, the computing formula that moves horizontally component dx is following:
Wherein, dx is a cursor mobile component in the horizontal direction, and P2 is second output probability, and P1 is first output probability, and L is the minimum single step step-length of cursor on screen;
Calculate cursor mobile component dx in the horizontal direction according to following formula, and jump to step 5.4.2;
The direction of step 5.4.2, judgement cursor mobile component dx in the horizontal direction;
If dx greater than 0, then defines cursor and moves right;
If dx equals 0, then define cursor non-displacement in the horizontal direction;
If dx less than 0, then defines cursor and is moved to the left;
Confirm cursor moving direction in the horizontal direction, and jump to step 5.4.3;
The mobile component dy of step 5.4.3, calculating cursor in the vertical direction, vertically the computing formula of mobile component dy is following:
Wherein, dy is the mobile component of cursor at vertical direction, and P2 is second output probability, and P1 is first output probability, and P3 is the 3rd output probability, and L is the minimum single step step-length of cursor on screen;
Calculate the mobile component dy of cursor according to following formula, and jump to step 5.4.4 at vertical direction;
Step 5.4.4, judge the direction of cursor at the mobile component dy of vertical direction;
If dy greater than 0, then defines cursor and moves up;
If dy equals 0, then define cursor in the vertical direction non-displacement;
If dy less than 0, then defines cursor and moves down;
Confirm the moving direction of cursor, and jump to step 6 at vertical direction.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103150023A (en) * | 2013-04-01 | 2013-06-12 | 北京理工大学 | System and method for cursor control based on brain-computer interface |
| CN110432899A (en) * | 2019-07-23 | 2019-11-12 | 南京工业大学 | Electroencephalogram signal identification method based on depth stacking support matrix machine |
| CN114103974A (en) * | 2021-11-01 | 2022-03-01 | 北京理工大学 | Brain-computer interface method for vehicle continuous control |
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| US20090063866A1 (en) * | 2007-08-29 | 2009-03-05 | Jiri Navratil | User authentication via evoked potential in electroencephalographic signals |
| CN101923392A (en) * | 2010-09-02 | 2010-12-22 | 上海交通大学 | Asynchronous brain-computer interactive control method for EEG signal |
| CN102198660A (en) * | 2011-05-04 | 2011-09-28 | 上海海事大学 | Robotic arm control system and action command control scheme based on brain-computer interface |
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| US20090063866A1 (en) * | 2007-08-29 | 2009-03-05 | Jiri Navratil | User authentication via evoked potential in electroencephalographic signals |
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| CN103150023A (en) * | 2013-04-01 | 2013-06-12 | 北京理工大学 | System and method for cursor control based on brain-computer interface |
| CN103150023B (en) * | 2013-04-01 | 2016-02-10 | 北京理工大学 | A kind of cursor control system based on brain-computer interface and method |
| CN110432899A (en) * | 2019-07-23 | 2019-11-12 | 南京工业大学 | Electroencephalogram signal identification method based on depth stacking support matrix machine |
| CN114103974A (en) * | 2021-11-01 | 2022-03-01 | 北京理工大学 | Brain-computer interface method for vehicle continuous control |
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