CN102789316B - A kind of control method based on the motion of Mental imagery brain-computer interface two dimensional cursor - Google Patents
A kind of control method based on the motion of Mental imagery brain-computer interface two dimensional cursor Download PDFInfo
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Abstract
The present invention discloses a kind of control method based on the motion of Mental imagery brain-computer interface two dimensional cursor, only chooses the three type games imaginations; It comprises: 1, the EEG signals of experimenter is transferred to signal amplifying apparatus by the electrode on electrode cap; 2, signal amplifying apparatus amplifies and Signal Pretreatment signal; 3, computer terminal adopts common space pattern algorithm to carry out feature extraction to EEG signals; 4, use algorithm of support vector machine to carry out pattern classification, obtain three output probabilities; 5, sorted result is applied a kind of probabilistic combination and is mapped to vectorial control method and carries out control command distribution and instruction translation; 6, the steering order after translation transfers to cursor control inerface, according to the movement of steering order display highlighting, completes whole control procedure.The present invention adopts the Mental imagery of three classes to control two dimensional cursor movement planar, alleviates experimenter and imagines burden, facilitate the use of experimenter, widened BCI systematic difference field.
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 Mental imagery 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 BCI system, individual is sent to the information in the external world and orders not by the normal nervus peripheralis of brain and muscle output pathway.Utilize the alternating-current technique of this advanced person to control exterior object by human brain to move in plane (two dimension) or space (three-dimensional), and reach the control effects of " thing Unlimited ", be the hot issue of this area research always.
BCI based on Mental imagery (MI) utilizes μ rhythm and the beta rhythm and pace of moving things that the imagination activity of experimenter is converted to actual command.
In prior art, the method using brain-computer interface system to complete cursor control comprises following steps:
Step 1, experimenter's head wear electrode cap and carries out the three type games imaginations, then the EEG signals of experimenter being transferred to signal amplifying apparatus by the electrode be fixed on the electrode cap of its brain.
Step 2, signal amplifying apparatus amplify and Signal Pretreatment signal.
Step 3, signal amplify and after pre-service, signal are carried out feature extraction with common space pattern (CSP) algorithm in computer terminal.
Step 4, employing support vector machine (SVM) algorithm carry out pattern classification.
Step 5, sorted result carry out instruction translation by presetting control method.
Step 6, finally by translation after steering order transmission cursor control inerface on, complete whole control procedure.
But its shortcoming is, its command number provided is limited usually, and export order kind if increased, accuracy rate can decline, and can increase the weight of the mental burden of experimenter.Consider, the three type games imaginations are best selections.But when controlling two dimensional cursor motion, usual needs respectively provide two control commands in level and vertical direction, use three type games imagination brain-computer interfaces can lack a class control command, if and brain-computer interfaces export four kinds of orders and control to use four type games to imagine, then can improve the requirement to experimenter, extend the cycle of training to experimenter.Therefore, if a kind of suitable control method can be found, good control effects can be issued in limited control command quantity, experimenter can be allowed again not need to carry out too much training, reduce mental burden when it carries out Mental imagery, promotion BCI technology is applied to reality, the scope of expansion BCI technology practical application.
Summary of the invention
The invention provides a kind of control method based on the motion of Mental imagery brain-computer interface two dimensional cursor, utilize the three type games imaginations, realize controlling two dimensional cursor and planar move, alleviate experimenter's burden, control effects is good.
For achieving the above object, the invention provides a kind of control method based on the motion of Mental imagery brain-computer interface two dimensional cursor, be characterized in, this control method only chooses the three type games imaginations; This control method comprises following steps:
Step 1, experimenter put on electrode cap and carry out the three type games imaginations, and the EEG signals of experimenter is transferred to signal amplifying apparatus by the electrode be fixed on the electrode cap of its brain;
Step 2, signal amplifying apparatus amplify and Signal Pretreatment signal;
Step 3, computer terminal adopt common space pattern algorithm to carry out feature extraction to EEG signals;
Step 4, use algorithm of support vector machine carry out pattern classification, obtain three output probabilities;
Step 5, sorted result are applied a kind of probabilistic combination and are mapped to vectorial control method and carry out control command distribution and instruction translation;
Step 5.1, respectively define vector machine algorithm carry out pattern classification after three output probabilities be the first output probability, the second output probability, the 3rd output probability, and jump to step 5.2;
Step 5.2, the first output probability, the second output probability and the 3rd output probability are mapped to the vector in three planes respectively according to the size of its probable value, and the angle between definition adjacent vector is 120 degree, and jump to step 5.3;
Step 5.3, 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;
Plane vector after mapping, its length is determined by each self-corresponding probable value size;
Step 5.4, resultant vector and cursor carry out synchronous displacement and convert, and determine direction and the distance of cursor movement, and definition cursor mobile component is in the horizontal direction dx, and the mobile component of vertical direction is dy, and the minimum single step step-length be defined on screen is L;
Step 5.4.1, calculating cursor mobile component dx in the horizontal direction, the computing formula of horizontal movement component dx is as follows:
Wherein, dx is cursor mobile component in the horizontal direction, and P2 is the second output probability, and P1 is the 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 above formula, and jump to step 5.4.2;
Step 5.4.2, judge the direction of cursor mobile component dx in the horizontal direction;
If dx is greater than 0, then defines cursor and move right;
If dx equals 0, then define cursor non-displacement in the horizontal direction;
If dx is less than 0, then defines cursor and be moved to the left;
Determine 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, the computing formula of vertical mobile component dy is as follows:
Wherein, dy is the mobile component of cursor at vertical direction, and P2 is the second output probability, and P1 is the 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 at vertical direction according to above formula, and jump to step 5.4.4;
Step 5.4.4, judge the direction of cursor at the mobile component dy of vertical direction;
If dy is greater than 0, then defines cursor and move up;
If dy equals 0, then define cursor in the vertical direction non-displacement;
If dy is less than 0, then defines cursor and move down;
Determine the moving direction of cursor at vertical direction, and jump to step 6;
Steering order after step 6, translation transfers to cursor control inerface, according to the movement of steering order display highlighting, completes whole control procedure.
In 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 above-mentioned steps 2, pre-service comprises samples to data with 256 hertz, then carries out the bandpass filtering of 5-30 hertz to these data.
The first above-mentioned output probability, the second output probability, the 3rd output probability respectively representative system judge the probability of the left hand imagination, the right hand imagination and the pin imagination that current experimenter carries out.
Above-mentioned experimenter, when carrying out Mental imagery, only needs the Mental imagery stressing to carry out health two positions to export resultant vector.
A kind of control method based on the motion of Mental imagery brain-computer interface two dimensional cursor of the present invention is compared with the Mental imagery control technology of prior art, its advantage is, the present invention adopts the Mental imagery classification results of three classes to control two dimensional cursor movement planar, overcome the restriction needing four class orders to export when traditional BCI controls two dimensional cursor, alleviate the imagination burden that experimenter is extra, facilitate the use of experimenter, reach and allow experimenter control cursor at the voluntomotory good control effects of plane, widened BCI systematic difference field;
The signal that the present invention utilizes human brain to send, controls the two dimensional motion of cursor, does not need user to lift up one's voice, also need not leave any one position of body, only to need the motion simply imagining certain position of health, just can control two dimensional cursor motion;
Control method of the present invention, experimenter is when controlling two dimensional cursor motion, only need to need according to cursor the final position arrived at, the Mental imagery stressing to carry out health two positions exports resultant vector, just can control cursor planar to move, the Mental imagery of three classes can meet cursor motion in all directions completely, ensure that the effect of control, no longer need to provide four class orders to go to control to level and vertical direction separately simultaneously, reduce the difficulty of control and the mental burden of experimenter.
Accompanying drawing explanation
Fig. 1 is the method flow diagram of a kind of control method based on the motion of Mental imagery brain-computer interface two dimensional cursor of the present invention;
Fig. 2 is that the P value of a kind of control method based on the motion of Mental imagery brain-computer interface two dimensional cursor of the present invention maps schematic diagram;
Fig. 3 is that the P value probabilistic combination of a kind of control method based on the motion of Mental imagery brain-computer interface two dimensional cursor of the present invention exports and vectorial exemplary plot;
Fig. 4 is that the probabilistic combination after ignoring the negative influence imagination in a kind of control method based on the motion of Mental imagery brain-computer interface two dimensional cursor of the present invention exports resultant vector schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, further illustrate specific embodiments of the invention.
The invention provides a kind of control method based on the motion of Mental imagery brain-computer interface two dimensional cursor, this control method is chosen based on brain-computer interface (BCI) system of the three type games imaginations, under the prerequisite not increasing imagination classification, realize the control to two dimensional cursor.
In the present embodiment, the above-mentioned three type games imaginations adopt the Mental imagery of left hands, the right hand and foot.The Mental imagery of above-mentioned foot is both feet Mental imagery simultaneously, so be defined as foot in the present invention.
As shown in Figure 1, following steps should be comprised based on the control method of Mental imagery brain-computer interface two dimensional cursor motion:
Step 1, experimenter put on electrode cap, and the EEG signals of experimenter is transferred to signal amplifying apparatus by the electrode be fixed on the electrode cap of its brain.
In the present invention, adopt meet international electroencephalogram association formulate " 10-20 international standard lead system " in 11 lead (FC3 FCZ FC4 C3 C1 CZ C2 C4 CP3 CPZ CP4) electrode gather EEG signals.
Step 2, signal amplifying apparatus amplify and Signal Pretreatment signal.
In the present invention, adopt brain tele-release large equipment record data, then with 256 hertz, data are sampled, then the bandpass filtering of 5-30 hertz is carried out to these data.
Step 3, signal amplify and after pre-service, by Signal transmissions to computer terminal, and carry out feature extraction with common space pattern (CSP) algorithm in computer terminal.
Step 4, computer terminal use support vector machine (SVM) algorithm to carry out pattern classification, obtain three output probabilities.
Step 5, computer terminal are applied a kind of probabilistic combination to sorted result and are mapped to vectorial control method and carry out control command distribution and instruction translation, to reach the object of mobile cursor.
Step 5.1, respectively define vector machine (SVM) algorithm carry out pattern classification after three output probabilities be respectively the first output probability P1, the second output probability P2, the 3rd output probability P3, these three output probabilities respectively representative system judge 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, first output probability P1, the second output probability P2 and the 3rd output probability P3 are mapped to respectively the vector in three planes according to the size of its probable value, and the angle defined between adjacent vector is 120 degree, and jumps to step 5.3.
Step 5.3, each plane vector after mapping, its length is determined by each self-corresponding probable value size.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.
After the conversion of P value and mapping policy, the resultant vector that three probability vectors can be combined into any direction exports as a result.
In the present invention, experimenter, when carrying out Mental imagery, only needs the Mental imagery stressing to carry out health two positions to export resultant vector.
As shown in Figure 3, in the present embodiment: cursor is moved to final position B from reference position A, experimenter needs by Mental imagery by the first output probability P1, and the second output probability P2 and the 3rd output probability P3 is combined into resultant vector Vc in sensing target location.But in the case of figure 3, the 3rd output probability P3 provides the negative influence for this task, if so under this task, the 3rd output probability P3 value is less, then less on the realization impact of whole task.
Method illustrated by the present invention needs experimenter to carry out the three type games imaginations simultaneously, but in actual task, mental burden and the difficulty of carrying out three type games imagination tasks very large simultaneously, therefore can be as the case may be, allow experimenter neglect a type games imagination, only need carry out the Mental imagery of two classes simultaneously.
As shown in Figure 4, in the present embodiment, 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 represents left hand Mental imagery and the right hand Mental imagery of experimenter respectively.
Experimenter stresses in right hand motion, i.e. the imagination of the second output probability P2, can reduce the value of the 3rd output probability P3 like this, also drop to minimum by the negative influence of task, also reduces mental burden and the imagination difficulty of experimenter simultaneously.By that analogy, when the task in other directions, a type games contrary with this direction can be ignored equally and imagine.
The array output of step 5.4, three different P values is a resultant vector, in the mobile control of cursor, also needs that this resultant vector and cursor are carried out synchronous displacement and converts, decide direction and the distance of last cursor movement with this.Therefore, we define cursor mobile component is in the horizontal direction dx, and the mobile component of vertical direction is dy, and the minimum single step step-length be simultaneously defined on screen is L.
Step 5.4.1, calculating cursor mobile component dx in the horizontal direction.
The computing formula of horizontal movement component dx is as follows:
Wherein, dx is cursor mobile component in the horizontal direction, and P2 is the second output probability, and P1 is the 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 above formula, and jump to step 5.4.2.
Step 5.4.2, judge the direction of cursor mobile component dx in the horizontal direction.
If dx is greater than 0, then defines cursor and move right.
If dx equals 0, then define cursor non-displacement in the horizontal direction.
If dx is less than 0, then defines cursor and be moved to the left.
Determine 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.
The computing formula of vertical mobile component dy is as follows:
Wherein, dy is the mobile component of cursor at vertical direction, and P2 is the second output probability, and P1 is the 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 at vertical direction according to above formula, and jump to step 5.4.4.
Step 5.4.4, judge the direction of cursor at the mobile component dy of vertical direction.
If dy is greater than 0, then defines cursor and move up.
If dy equals 0, then define cursor in the vertical direction non-displacement.
If dy is less than 0, then defines cursor and move down.
Determine the moving direction of cursor at vertical direction, and jump to step 6.
After control method above, experimenter, when controlling two dimensional cursor motion, only needs to need according to cursor the final position arrived at, stresses the Mental imagery output resultant vector carrying out health two positions, just can control cursor and planar move.The Mental imagery of three classes can meet cursor motion in all directions completely, ensure that the effect of control, no longer needs to provide four class orders to go to control to level and vertical direction separately simultaneously, reduces the difficulty of control and the mental burden of experimenter.
Step 6, finally by translation after steering order transfer on cursor control inerface, by the movement of cursor control inerface according to steering order display highlighting, complete whole control procedure.
Although content of the present invention has done detailed introduction by above 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 amendment of the present invention and substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (5)
1. based on a control method for Mental imagery brain-computer interface two dimensional cursor motion, it is characterized in that, this control method only chooses the three type games imaginations; This control method comprises following steps:
Step 1, experimenter put on electrode cap and carry out the three type games imaginations, and the EEG signals of experimenter is transferred to signal amplifying apparatus by the electrode be fixed on the electrode cap of its brain;
Step 2, signal amplifying apparatus amplify and Signal Pretreatment signal;
Step 3, computer terminal adopt common space pattern algorithm to carry out feature extraction to EEG signals;
Step 4, use algorithm of support vector machine carry out pattern classification, obtain three output probabilities;
Step 5, sorted result are applied a kind of probabilistic combination and are mapped to vectorial control method and carry out control command distribution and instruction translation;
Step 5.1, respectively define vector machine algorithm carry out pattern classification after three output probabilities be the first output probability (P1), the second output probability (P2), the 3rd output probability (P3), and jump to step 5.2;
Step 5.2, the first output probability (P1), the second output probability (P2) and the 3rd output probability (P3) are mapped to three plane vectors in a plane respectively according to the size of its probable value, and the angle between definition adjacent vector is 120 degree, and jump to step 5.3;
Step 5.3, respectively three plane vectors are calculated its resultant vector in this plane, and the resultant vector of gained is exported as final imagination result, and jump to step 5.4;
Plane vector after mapping, its length is determined by each self-corresponding probable value size;
Step 5.4, resultant vector and cursor carry out synchronous displacement and convert, and determine direction and the distance of cursor movement, and definition cursor mobile component is in the horizontal direction dx, and the mobile component of vertical direction is dy, and the minimum single step step-length be defined on screen is L;
Described step 5.4 comprises following steps further:
Step 5.4.1, calculating cursor mobile component dx in the horizontal direction, the computing formula of horizontal movement component dx is as follows:
dx＝(p2-p1)×cos30°×L
Wherein, dx is cursor mobile component in the horizontal direction, and P2 is the second output probability, and P1 is the 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 above formula, and jump to step 5.4.2;
Step 5.4.2, judge the direction of cursor mobile component dx in the horizontal direction;
If dx is greater than 0, then defines cursor and move right;
If dx equals 0, then define cursor non-displacement in the horizontal direction;
If dx is less than 0, then defines cursor and be moved to the left;
Determine 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, the computing formula of vertical mobile component dy is as follows:
dy＝[(p1+p2)×sin30°-p3]×L
Wherein, dy is the mobile component of cursor at vertical direction, and P2 is the second output probability, and P1 is the 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 at vertical direction according to above formula, and jump to step 5.4.4;
Step 5.4.4, judge the direction of cursor at the mobile component dy of vertical direction;
If dy is greater than 0, then defines cursor and move up;
If dy equals 0, then define cursor in the vertical direction non-displacement;
If dy is less than 0, then defines cursor and move down;
Determine the moving direction of cursor at vertical direction, and jump to step 6;
Steering order after step 6, translation transfers to cursor control inerface, according to the movement of steering order display highlighting, completes whole control procedure.
2. as claimed in claim 1 a kind of based on Mental imagery brain-computer interface two dimensional cursor motion control method, it is characterized in that, in described 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. as claimed in claim 1 a kind of based on Mental imagery brain-computer interface two dimensional cursor motion control method, it is characterized in that, in described step 2, described pre-service comprises samples to data with 256 hertz, then carries out the bandpass filtering of 5-30 hertz to these data.
4. as claimed in claim 1 a kind of based on Mental imagery brain-computer interface two dimensional cursor motion control method, it is characterized in that, described the first output probability (P1), the second output probability (P2), the 3rd output probability (P3) respectively representative system judge the probability of the left hand imagination, the right hand imagination and the pin imagination that current experimenter carries out.
5. a kind of control method based on the motion of Mental imagery brain-computer interface two dimensional cursor as claimed in claim 1, it is characterized in that, described experimenter, when carrying out Mental imagery, only needs the Mental imagery that stresses to carry out health two positions to export resultant vector.
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