CN104524689A - System and method for realizing allogeneic biological control by brain-brain interface - Google Patents
System and method for realizing allogeneic biological control by brain-brain interface Download PDFInfo
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- CN104524689A CN104524689A CN201410728774.6A CN201410728774A CN104524689A CN 104524689 A CN104524689 A CN 104524689A CN 201410728774 A CN201410728774 A CN 201410728774A CN 104524689 A CN104524689 A CN 104524689A
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Abstract
The invention relates to a system for realizing allogeneic biological control by a brain-brain interface. The system comprises a wireless video acquisition module, a real-time brain-computer interface control interface, a wireless electroencephalogram acquisition module, an electroencephalogram signal real-time decoding module, a robotic animal and a controller. The wireless video acquisition module monitors current moving information of the robotic animal and transmits the information to the real-time brain-computer interface control interface wirelessly; the controller senses the moving state of the robotic animal visually at the control interface and expresses a control will by a visual simulation pattern; the wireless electroencephalogram acquisition module collects an electroencephalogram signal and sends the signal to the electroencephalogram signal real-time decoding module at a computer end wirelessly; and the electroencephalogram signal real-time decoding module decodes the received electroencephalogram signal in real time and then generates a control instruction of the robotic animal, and sends the control instruction of an electrical nerve stimulation module of the robotic animal; and the electrical nerve stimulation module sends a weak electrical simulation pulse sequence to the animal nerve according to the control instruction, thereby controlling the moving direction of the animal. With the system, allogeneic biological brain control is realized.
Description
Technical field
The present invention relates to brain-computer interface and biorobot field, particularly relate to a kind of by brain-brain Interface realization allosome biocontrol system and method.
Background technology
Brain-computer interface (Brain Computer Interface, BCI) refer generally to utilize the direct connecting path set up between the brain of people and external equipment, it relies on electroencephalogramsignal signal collection equipment to gather electrical brain signals, through computer disposal after output, extract the willingness information of the mankind, and then realize brain direct control to external world.
Biorobot refers to the motion function utilizing animal body, power supply system, to import into from the impression of animal movement or innervation is started with, realize the motion of animal and the manual control of some behavior, thus utilize animal speciality replace people to complete people can not with people dare not special duty, relate to electronic information technology, micro & nano technology, the fields such as bioscience technology.The more common robot of biorobot is at energy resource supply, and kinematic dexterity, there is obvious advantage mobility and adaptability aspect.But at present the control of biorobot is generally realized by remote manipulation, namely indirectly complete the control to biorobot by means of artificial operation.
Through investigation, do not find that there is patent at present and realize human brain and other biological brain Direct Communication, the consciousness realizing human brain directly controls the motor pattern of other biology.In BCI control field, patent CN103845137A " robot control method based on stable state vision inducting brain-machine interface " achieves people's brain signal and controls external robots equipment, but this is different from brain communication between two kinds of living body biologicals and control completely; In biorobot field, the mode that patent CN101467515 " a kind of for the mammiferous method of guidance of robot " achieves people's remote manual control carrys out the mammiferous motion of control machine, but the Direct Communication do not related between human brain and machine animal and control.
Human brain is utilized directly to control biorobot, not only can directly embody brain idea more efficiently, the more important thing is and be applied to medical field, the life for disabled patient is brought huge help, can predict, brain-brain interface also will become a direction of mankind's Technological research development.
Summary of the invention
For the technical problem existed in above-mentioned prior art, the present invention proposes a kind of by traditional brain-computer interface (BCI), upgrade to " brain-brain interface " (BBI, brain-computer interface+machine brain interface) system and method, the brain realizing people controls the brain of animal, the perfection not only embodying brain-computer interface and biorobot is merged, and provides a kind of new direction and thinking for brain-brain allosome BIOLOGICAL CONTROL.
For achieving the above object, the technical solution adopted in the present invention is as follows:
A kind of system by brain-brain Interface realization allosome BIOLOGICAL CONTROL, comprise wireless video collecting module, the real-time control inerface of brain-computer interface, wireless brain wave acquisition module, EEG signals real-time decoding module, machine animal and effector, described wireless video collecting module monitors machine animal current motion information, is wirelessly transmitted to the real-time control inerface of described brain-computer interface; Effector, at control inerface visually-perceptible machine animal kinestate, is expressed by visual stimulus pattern and controls wish; Described wireless brain wave acquisition module acquires EEG signals, is wirelessly transmitted to the EEG signals real-time decoding module of computer terminal; After the EEG signals that described EEG signals real-time decoding module real-time decoding receives, produce the control instruction to machine animal, be wirelessly transmitted to the nerve electric stimulation module of machine animal; Described nerve electric stimulation module sends light current stimulating pulsatile series according to control instruction to animal nerve, and then controls animal movement direction.
Described wireless video collecting module is primarily of video camera, and wireless video transmitter module, wireless video receiver module forms.
Described wireless brain wave acquisition module is primarily of electroencephalogramdata data collector and wireless EEG signals receiver module composition.
Described nerve electric stimulation module forms primarily of nerve electric stimulation device, electrode and pricking with needle.
Described EEG signals real-time decoding module is primarily of brain electric control program and control instruction sending module composition.
By a method for brain-brain Interface realization allosome BIOLOGICAL CONTROL, completed by above-mentioned system, comprise step as follows:
Step one, wireless video collecting module monitors machine animal current motion information, be wirelessly transmitted to the real-time control inerface of brain-computer interface;
Step 2, effector, at control inerface visually-perceptible machine animal kinestate, are expressed by visual stimulus pattern and control wish from effector's brain;
Step 3, brain wave acquisition module acquires EEG signals, be wirelessly transmitted to the EEG signals real-time processing module of computer terminal;
Produce the control instruction to machine animal after the EEG signals that step 4, EEG signals decoder module real-time decoding receive, be wirelessly transmitted to the nerve electric stimulation module of machine animal;
Step 5, nerve electric stimulation module send light current stimulating pulsatile series according to control instruction to animal nerve, and then control animal movement direction;
Repeat above step one to step 5, realize the biological control in real time of brain-brain interface allosome.
In described step one, machine animal is by nerve electric stimulation device, some 0.06mm enamel-cover silver electrode, and pricking with needle and Madagascar Blatta seu periplaneta are made by nerve scaffold operation.
Described step 2 midbrain machine Interface Controller interface is the principle utilizing Steady State Visual Evoked Potential, wherein in the lower left corner, interface, the lower right corner and top respectively have 1 rectangle black and white alternately to glimmer square, flicker frequency is respectively: 8.333HZ, 6.818HZ, 12.5HZ, effector watches each flicker square attentively respectively to represent Autonomous Control wish.
In described step 3, the control end eeg signal classification received is 3 results by EEG signals decoder module, left, to the right with the idea keeping current state.
In described step 5, nerve electric stimulation device can produce the squared pulse trains of Parameter adjustable joint.
Beneficial effect of the present invention is as follows:
Brain-computer interface (BCI) is upgraded to brain-brain interface (BBI), only utilize the vision of people and wish can realize controlling machine animal remote operating formula, for brain-brain allosome BIOLOGICAL CONTROL provides a kind of thinking, can be used in the future directly performing search with brain control machine animal, the tasks such as exploration, the body function that simultaneously also can be used for the disabled patient of medical field is rebuild.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is present system composition frame chart;
Fig. 2 is system structure schematic diagram of the present invention;
Fig. 3 is the design sketch of embodiments of the invention one;
Fig. 4 is the design sketch of embodiments of the invention two.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
Provided by the present invention by brain-brain Interface realization allosome biocontrol system and method, the overall master slave control normal form that adopts realizes brain-brain allosome BIOLOGICAL CONTROL.Specifically describe as follows:
1, from end (controlled terminal), need to design live body machine animal prototype, first the nerve electric stimulation mould device that can control animal will be designed, nerve electric stimulation device comprises wireless communication module and microcontroller, wireless module has the radio communication function with control instruction end, microcontroller has the weak current pulse function producing Parameter adjustable, and the square-wave pulse amplitude range that microcontroller can produce is: 0-3V; Frequency range is: 0-150HZ; Pulse duration: 0-1000ms; Dutycycle: 0-100%.
Preferably, parameter used in the present invention is frequency 50HZ, persistent period 500ms, amplitude 1.5V, the squared pulse trains of 50% dutycycle.
2, this nerve electric stimulation device is installed in animals, the stimulating electrode be connected with nerve electric stimulation device is connected with animal related neural exactly by implant surgery, regulate stimulator to produce appropriate electric pulse, stimulating animal is neural, and animal can be made to produce the motion trend of expectation.
3, at main side (control end), the i.e. brain of people, need gather out the EEG signals of human brain and obtain the video of machine animal real time status, the collection of EEG signals relies on head electroencephalogramdata data collector being worn on effector to realize, machine animal real time status video is taken by video camera and realized to the video reception module be connected with computer by connected video transmission module wireless transmit, and machine exports display to as calculated.
4, decoded the wish of human brain by EEG signals real-time decoding module, then the instruction representing this wish is wirelessly transmitted to the nerve electric stimulation module of machine animal, and then realize human brain the remote operating of machine animal is controlled.
In the present system shown in Fig. 1 and Fig. 2:
Namely control end refers to effector 1.
Brain wave acquisition module 2 is made up of electroencephalogramdata data collector and wireless EEG signals receiver module 8.
EEG signals real-time decoding module 3 is made up of brain electric control program and control instruction sending module 7.
Controlled terminal/machine animal 4 is made up of nerve electric stimulation module and living animal.
Wireless video collecting module 5 is by video camera, and wireless video transmitter module, wireless video receiver module 9 forms.
Brain-computer interface control inerface 6 shows on computer monitor.
In embodiments of the present invention, the living animal used is Madagascar Blatta seu periplaneta, 2 0.06mm silver electrode are implanted respectively in the feeler of Madagascar Blatta seu periplaneta left and right, an other electrode implants first segment region, Blatta seu periplaneta back as region, then utilizes pricking with needle connection electrode and nerve electric stimulation device, electrode, pricking with needle, with nerve electric stimulation device composition nerve electric stimulation module, and its entirety is fixed on Blatta seu periplaneta back, completes the making of machine animal 4.
Video camera captured in real-time machine animal 4 movable information in wireless video collecting module 5, through connected 1.2GHZ, the wireless video transmitter module of 700mW is wirelessly transmitted to wireless video receiver module, wireless video receiver module by video information transmission to computer, by computer export to display, its video, as the background of brain-computer interface control inerface 6, obtains the real-time status of machine animal for effector.
The brain electric control program of brain electricity real-time decoding module 3 is algorithm based on Steady State Visual Evoked Potential (SSVEP) and designs, utilize three the rectangular flash squares exporting brain-computer interface control inerface 6 to, realize the extraction to effector 1 brain wish signal, three flicker squares, lay respectively at 6 lower left corners of brain-computer interface control inerface, the lower right corner, top, representative makes machine animal 4 left respectively, to the right with the brain wish keeping current motion state, flicker frequency is: 8.333HZ, 6.818HZ, 12.5HZ.
Electroencephalogramdata data collector is worn on and controls head, transfers to brain electricity receiver module, and then transfer to the brain electric control program in computer through wireless blue tooth.
Effector 1, at control inerface 6 visually-perceptible machine animal kinestate, expresses Autonomous Control wish by visual stimulus pattern, and the wish of people, after brain electric control program decode, is extracted result and is sent to control instruction sending module by EEG signals.
Instruction is wirelessly transmitted to nerve electric stimulation module by bluetooth by control instruction sending module.
When control instruction be left time, nerve electric stimulation module sends 50HZ, 500ms, 1.5V to the right feeler of machine animal 4, the squared pulse trains of 50% dutycycle.
When control instruction be to the right time, nerve electric stimulation module sends 50HZ, 500ms, 1.5V to the left feeler of machine animal 4, the squared pulse trains of 50% dutycycle.
When control instruction is for maintenance current state, nerve electric stimulation module does not send pulse train.
Machine animal 4 is after receiving nerve electric stimulation pulse, reaction of flight can be produced, after the left antennae nerve of machine animal 4 receives electric stimulation pulse, the rotation of right direction can be produced, otherwise, after right antennae nerve receives electric stimulation pulse, then can produce the rotation of left direction, when not stimulating, former kinestate can be kept.
The present invention shown in Fig. 3, Fig. 4 two, by the embodiment of brain-brain Interface Controller machine animal, utilizes brain-brain Interface Controller machine animal to walk by route.
In the route that Fig. 3 and Fig. 4 indicates, the width in path is 12cm, and the path of Fig. 3 is the path of 70cm, Fig. 4 is 85cm, the dotted line be positioned in the middle of path is the desirable track route of machine animal under controlled state, and solid line is the actual track route of machine animal under effector controls.
Can find out, system and method provided by the invention, can be good at realizing utilizing human brain directly to control the motion of allosome animal, there is suitable advance.
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 (10)
1. the system by brain-brain Interface realization allosome BIOLOGICAL CONTROL, it is characterized in that, comprise wireless video collecting module, the real-time control inerface of brain-computer interface, wireless brain wave acquisition module, EEG signals real-time decoding module, machine animal and effector, described wireless video collecting module monitors machine animal current motion information, is wirelessly transmitted to the real-time control inerface of described brain-computer interface; Effector, at control inerface visually-perceptible machine animal kinestate, is expressed by visual stimulus pattern and controls wish; Described wireless brain wave acquisition module acquires EEG signals, is wirelessly transmitted to the EEG signals real-time decoding module of computer terminal; After the EEG signals that described EEG signals real-time decoding module real-time decoding receives, produce the control instruction to machine animal, be wirelessly transmitted to the nerve electric stimulation module of machine animal; Described nerve electric stimulation module sends light current stimulating pulsatile series according to control instruction to animal nerve, and then controls animal movement direction.
2. the system by brain-brain Interface realization allosome BIOLOGICAL CONTROL according to claim 1, is characterized in that, described wireless video collecting module is primarily of video camera, and wireless video transmitter module, wireless video receiver module forms.
3. according to claim 1 by the system of brain-brain Interface realization allosome BIOLOGICAL CONTROL, it is characterized in that, described wireless brain wave acquisition module is primarily of electroencephalogramdata data collector and wireless EEG signals receiver module composition.
4., according to claim 1 by the system of brain-brain Interface realization allosome BIOLOGICAL CONTROL, it is characterized in that, described nerve electric stimulation module forms primarily of nerve electric stimulation device, electrode and pricking with needle.
5. according to claim 1 by the system of brain-brain Interface realization allosome BIOLOGICAL CONTROL, it is characterized in that, described EEG signals real-time decoding module is primarily of brain electric control program and control instruction sending module composition.
6. by a method for brain-brain Interface realization allosome BIOLOGICAL CONTROL, it is characterized in that, completed by described system arbitrary in claim 1 to 5, comprise step as follows:
Step one, wireless video collecting module monitors machine animal current motion information, be wirelessly transmitted to the real-time control inerface of brain-computer interface;
Step 2, effector, at control inerface visually-perceptible machine animal kinestate, are expressed by visual stimulus pattern and control wish from effector's brain;
Step 3, brain wave acquisition module acquires EEG signals, be wirelessly transmitted to the EEG signals real-time processing module of computer terminal;
Produce the control instruction to machine animal after the EEG signals that step 4, EEG signals decoder module real-time decoding receive, be wirelessly transmitted to the nerve electric stimulation module of machine animal;
Step 5, nerve electric stimulation module send light current stimulating pulsatile series according to control instruction to animal nerve, and then control animal movement direction;
Repeat above step one to step 5, realize the biological control in real time of brain-brain interface allosome.
7. the method by brain-brain Interface realization allosome BIOLOGICAL CONTROL according to claim 6, it is characterized in that, in described step one, machine animal is by nerve electric stimulation device, some 0.06mm enamel-cover silver electrode, and pricking with needle and Madagascar Blatta seu periplaneta are made by nerve scaffold operation.
8. the method by brain-brain Interface realization allosome BIOLOGICAL CONTROL according to claim 6, it is characterized in that, described step 2 midbrain machine Interface Controller interface is the principle utilizing Steady State Visual Evoked Potential, wherein in the lower left corner, interface, the lower right corner and top respectively have 1 rectangle black and white alternately to glimmer square, and flicker frequency is respectively: 8.333HZ, 6.818HZ, 12.5HZ, effector watches each flicker square attentively respectively to represent Autonomous Control wish.
9. the method by brain-brain Interface realization allosome BIOLOGICAL CONTROL according to claim 6, it is characterized in that, in described step 3, the control end eeg signal classification received is 3 results by EEG signals decoder module, left, to the right with the idea keeping current state.
10. the method by brain-brain Interface realization allosome BIOLOGICAL CONTROL according to claim 6, is characterized in that, in described step 5, nerve electric stimulation device can produce the squared pulse trains of Parameter adjustable joint.
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| CN105287067A (en) * | 2015-10-13 | 2016-02-03 | 西安交通大学 | Intelligent home system aiming at patient suffering from amyotrophic lateral sclerosis |
| CN105549733A (en) * | 2015-12-08 | 2016-05-04 | 西安交通大学 | Brain-computer interface system and method based on steady state visual evoked in intelligent space |
| CN107811735A (en) * | 2017-10-23 | 2018-03-20 | 广东工业大学 | One kind auxiliary eating method, system, equipment and computer-readable storage medium |
| CN109394208A (en) * | 2018-09-04 | 2019-03-01 | 青岛科技大学 | A kind of biorobot's system |
| WO2020042109A1 (en) * | 2018-08-30 | 2020-03-05 | 西门子（中国）有限公司 | Brain-computer interface device for safety control and robot system |
| CN112247982A (en) * | 2020-08-06 | 2021-01-22 | 浙江大学 | Rat robot remote control method and system based on state classification model |
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| CN112247982A (en) * | 2020-08-06 | 2021-01-22 | 浙江大学 | Rat robot remote control method and system based on state classification model |
| CN112247982B (en) * | 2020-08-06 | 2021-10-08 | 浙江大学 | Rat robot remote control method and system based on state classification model |
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Application publication date: 20150422 |