CN105549733B - Brain-computer interface system and method based on stable state vision inducting under a kind of intelligent space - Google Patents
Brain-computer interface system and method based on stable state vision inducting under a kind of intelligent space Download PDFInfo
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- CN105549733B CN105549733B CN201510900849.9A CN201510900849A CN105549733B CN 105549733 B CN105549733 B CN 105549733B CN 201510900849 A CN201510900849 A CN 201510900849A CN 105549733 B CN105549733 B CN 105549733B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- 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
- G06F3/013—Eye tracking input arrangements
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- 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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- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
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Abstract
The invention discloses brain-machine interface methods based on stable state vision inducting under a kind of intelligent space, the visual evoked potential that subject is generated by watching LED visual stimulus display is after EEG is acquired and is handled, it is input in control host, under intelligent space, camera obtains the location information of subject and the environmental information of surrounding, host is controlled to carry out calculation processing to EEG signals and location circumstances information, the navigation feature including estimating run duration and programming movement path is provided for subject, control host generates control command control lower limb exoskeleton and subject is assisted to move to predeterminated target.The present invention can eliminate limitation of the visual stimulator to subject's position and direction, strengthen the active movement consciousness of subject and improve the intelligent level of subject's life.
Description
【Technical field】
The present invention relates to medical sciences of recovery therapy and facing Information Science interleaving techniques and brain-machine interfacing field, and in particular to a kind of
Brain-machine interface system and method based on stable state vision inducting under intelligent space.
【Background technology】
Brain-machine interface be established between human brain and computer or other electronic equipments directly exchange and controls lead to
Road, by this channel, subject directly can express idea or commanding apparatus by brain, without language or move
Make, this can effectively enhance the ability that subject exchanged or controlled external environment with the external world.
It is living higher than electricity specific caused by 6Hz visual stimulus that Steady State Visual Evoked Potential refers to that nervous system receives frequency
It is dynamic, wherein the EEG signals recorded will include the rhythm and pace of moving things ingredient identical with frequency of stimulation.This sound with cyclic component
Induction signal is referred to as Steady State Visual Evoked Potential.Steady State Visual Evoked Potential concentrates on specific frequency, signal detection and processing
Method is relatively simple and accuracy is higher.
Traditional domestic environment carry out visual stimulus when, subject must in 100 cm range of visual stimulator, and
Traditional visual stimulator is usually all single-screen.Therefore subject will be limited by visual stimulator position and dimension
System, and any position in habitat environment or vision induced from any direction progress that cannot be in, largely limit in this way
The scope of activities of subject.In addition, stable state vision inducting is limited by visual stimulator refreshing frequency, conventional screen refreshes
Rate is in 60Hz or so.
【Invention content】
The purpose of the present invention is to solve more than technical problems, provide and stable state vision inducting is based under a kind of intelligent space
Brain-machine interface method, this method eliminates limitation of the visual stimulator to subject, improve the intelligence of subject's life
Change horizontal.
In order to achieve the above objectives, the present invention is achieved by the following scheme：
A kind of visual stimulator, including LED visual stimulus displays, LED visual stimulus displays are installed by pitman
On the ceiling, LED visual stimulus display is interacted by visual stimulus drive system and control host；LED visual stimulus
On display the stimulation instructions for carrying out vision induced are shown according at least refreshing frequency of 100Hz.
Further improve of the invention is：
The LED visual stimulus display is is surrounded by four lateral emitting blocks, a bottom-face luminous block and top flap
Cuboid, four lateral emitting blocks are identical with the content shown by bottom-face luminous block.
The length, width and height size of the lateral emitting block is 1.3m, 1m and 1.5m.
It is bolted on ceiling at the top of the pitman, bottom is welded on LED visual stimulus displays
In top flap.
The visual stimulus drive system includes all LED light-emitting blocks in LED visual stimulus displays is controlled to show
The microcontroller of identical content and the triode for all LED light-emitting blocks to be driven to shine.
The content that the LED light-emitting blocks are shown includes word, arrow or Newton's ring instruction.
Brain-machine interface system based on stable state vision inducting under a kind of intelligent space, including：
Visual stimulator, for showing stimulation instructions；
Host is controlled, shortest path is calculated, and will be most short for the motion intention according to subject and location circumstances information
Path integration instructs be sent to lower limb exoskeleton in order to control；
Camera, for acquiring the environmental information of the location information of subject and surrounding；
EEG is acquired and processing unit, for acquiring subject after visual stimulator is observed, the EEG of cerebral cortex generation
Signal, then control host is sent to after EEG signal is handled；
Lower limb exoskeleton is worn on subject's lower limb, for receiving the action command of control host, is referred to according to action
It enables and subject is assisted to move to target point according to shortest path.
Brain-machine interface method based on stable state vision inducting, includes the following steps under a kind of intelligent space：
1) subject watches the corresponding stimulation instructions of target point on visual stimulator, and cerebral cortex generates vision induced
Current potential is input to control host after processing, controls motion intention of the host by EEG's Recognition subject；
2) camera obtains the location information of subject and the environmental information of surrounding；
3) control host carries out calculation processing to position environmental information, and subject and target point are regarded according to its position
For a coordinate points, barrier is considered as a polygon according to its position, control host is quilt in conjunction with EEG signals
Examination person, which provides, to be included estimating run duration and the navigation feature in programming movement path, obtains shortest path；
4) control host computer control lower limb exoskeleton assists subject to move to target point according to shortest path, completes instruction.
In the step 1), the pretreatment, feature extraction and identification point of signal are included to the processing of visual evoked potential
Class, wherein pretreatment includes going DC component, signal filtering, removes eye electricity and Muscle artifacts and ICA removal interference components, it is special
Sign extraction is using wavelet analysis method, and identification classification is using Artificial Neural Network.
In the step 3), estimate run duration and programming movement path is specially：
Movement is estimated by the subjective motion speed of the distance and subject of subject starting position and predetermined movement position
Time, according to the environmental information of the location information of subject and surrounding, using Visual Graph method, intelligent space cataract or glaucoma is hidden in planning in real time
Hinder the motion path of object；
Wherein path planning is specially：
It regards subject, target point as a point, barrier is regarded as to the polygon surrounded by its vertex, subject,
Each vertex of target point and barrier is combined connection, and ensures that these straight lines do not intersect with barrier, just forms one
Visual Graph, then with breadth-first search search customization shortest path.
Compared with prior art, the invention has the advantages that：
The present invention fixes LED visual stimulus display on the ceiling, and the size of 1 use .3m × 1m × 1.5m,
Ensure that subject can any position progress be vision induced in intelligent space, the versatility of LED visual stimulus displays ensures
Subject can be vision induced from any direction progress in intelligent space, eliminates the limit to the position and direction of subject
System is used as the foundation of lower limb exoskeleton movement by the EEG signal of subject, enhances the active movement consciousness of subject, intelligence
Energy space can provide the navigation feature including estimating run duration and programming movement path for subject, improve subject's life
Intelligent level living.
【Description of the drawings】
Fig. 1 is the work flow diagram of the present invention；
Fig. 2 is the structure diagram of the present invention.
Wherein, 1 is ceiling；2 be visual stimulus drive system；3 be pitman；4 be lateral emitting block；5 be LED visions
Stimulate display；6 be bottom-face luminous block.
【Specific embodiment】
The present invention is described in further detail below in conjunction with the accompanying drawings：
Present invention design intelligent space is used for making up deficiency when traditional domestic environment carries out visual stimulus, intelligent space tool
Body refers to there is camera, this space for being embedded in computing device and multi-modal sensor of control host.As shown in Fig. 2,
Visual stimulator includes LED visual stimulus display 5, and LED visual stimulus display 5 is mounted on ceiling 1 by pitman 3
On, LED visual stimulus display 5 is interacted by visual stimulus drive system 2 and control host；LED visual stimulus display 5
For the cuboid surrounded by four lateral emitting blocks, 4, bottom-face luminous blocks 6 and top flap, four lateral emitting blocks 4 and bottom
Content shown by face light-emitting block 6 is identical.The length, width and height size of lateral emitting block 4 is 1.3m, 1m and 1.5m, it is ensured that subject
Person is vision induced from any direction progress in any position of intelligent space, and LED visual stimulus display refreshing frequencies can
It is even higher to reach 100Hz, higher than conventional screen refreshing frequency, eliminates frequency limit of the visual stimulator to subject.Connection
The top of stick 3 is bolted on ceiling 1, and bottom is welded in the top flap of LED visual stimulus display 5.Depending on
Feel that stimulation drive system 2 includes all LED light-emitting blocks in LED visual stimulus display 5 is controlled to show identical content
Microcontroller and the triode for all LED light-emitting blocks to be driven to shine.The content that LED light-emitting blocks are shown include word, arrow or
Person's Newton's ring instructs.
The present invention devises the brain based on stable state vision inducting-machine interface under a kind of intelligent space using visual stimulator
System, including：Visual stimulator 5, for showing stimulation instructions；Host is controlled, is provided under navigation feature and control for subject
Limb ectoskeleton assists subject to move to predeterminated target；Host is controlled according to the motion intention of subject and location circumstances information meter
Shortest path is calculated, and shortest path is converted into control instruction and is sent to lower limb exoskeleton；Camera, for obtaining subject in real time
The location information of person and the environmental information of surrounding；EEG is acquired and processing unit, for acquiring subject in observation visual stimulator
After 5, the EEG signal of cerebral cortex generation, then control host is sent to after EEG signal is handled；Lower limb exoskeleton, be worn on by
On examination person's lower limb, for receiving the action command of control host, subject is assisted to be moved according to shortest path according to action command
To target point.
The invention also discloses brain-machine interface method based on stable state vision inducting under a kind of intelligent space, including following
Step：
1) subject watches the corresponding stimulation instructions of target point on visual stimulator, and cerebral cortex generates vision induced
Current potential is input to control host after processing, controls motion intention of the host by EEG's Recognition subject；Vision is lured
The processing of power generation position includes the pretreatment, feature extraction and identification classification of signal, wherein pretreatment includes removing DC component, letter
Eye electricity and Muscle artifacts, the improper data of artificial removal and ICA removal interference components are removed in number filtering, and feature extraction is using small
Wave analysis method, identification classification is using Artificial Neural Network.
2) camera obtains the location information of subject and the environmental information of surrounding；
3) control host carries out calculation processing to position environmental information, and subject and target point are regarded according to its position
For a coordinate points, barrier is considered as a polygon according to its position, control host is quilt in conjunction with EEG signals
Examination person, which provides, to be included estimating run duration and the navigation feature in programming movement path, obtains shortest path；
It estimates run duration and programming movement path is specially：
Movement is estimated by the subjective motion speed of the distance and subject of subject starting position and predetermined movement position
Time, according to the environmental information of the location information of subject and surrounding, using Visual Graph method, intelligent space cataract or glaucoma is hidden in planning in real time
Hinder the motion path of object；
Wherein path planning is specially：
It regards subject, target point as a point, barrier is regarded as to the polygon surrounded by its vertex, subject,
Each vertex of target point and barrier is combined connection, and ensures that these straight lines do not intersect with barrier, just forms one
Visual Graph, then with breadth-first search search customization shortest path.
4) control host computer control lower limb exoskeleton assists subject to move to target point according to shortest path, completes instruction.
The principle of the present invention：
Brain-machine interface method based on stable state vision inducting under intelligent space of the present invention, is passed through under intelligent space
LED visual stimulus display, which induces, generates visual evoked potential after EEG is acquired and is handled, by control host computer control lower limb dermoskeleton
The method of bone, LED visual stimulus displays are by LED visual stimulus display, pitman and LED visual stimulus drive system groups
Into, LED visual stimulus display is by left side LED light-emitting blocks, front LED light-emitting blocks, bottom surface LED light-emitting blocks, LED shines below
Block, right side LED light-emitting blocks and baffle above are formed, i.e., the cuboid formed by 5 LED light-emitting blocks and 1 baffle encirclement, long
Width and height dimensions are 1.3m, 1m and 1.5m respectively, and pitman is connected by welding with LED visual stimulus displays, and pitman passes through
Be bolted on the ceiling being fixed in intelligent space, LED visual stimulus drive systems be by triode and singlechip group into
, triode driving LED light-emitting blocks are shinny, and all LED light-emitting blocks are shown identical in microcontroller control LED visual stimulus displays
Content, instructed including word, arrow or Newton's ring, all activities, are used as control command in corresponding subject one day
Stimulation.
The visual evoked potential that subject is generated by watching LED visual stimulus display through EEG acquire with handle after,
It is input in control host, under intelligent space, camera obtains the location information of subject and the environmental information of surrounding, control
Host carries out calculation processing to EEG signals and location circumstances information, provides for subject and is transported including estimating run duration and planning
The navigation feature in dynamic path, finally controls lower limb exoskeleton that subject is assisted to move to predeterminated target.
The subject of any position can watch LED visual stimulus displays from any direction in intelligent space, and LED is regarded
All active instructions in subject one day, different instructions can be shown by feeling that the LED light-emitting blocks in stimulation display are sufficiently large
With different frequency scintillations, when which activity subject want to carry out, the stimulation normal form of command adapted thereto need to be only watched, is generated immediately
Visual evoked potential through EEG acquire with handle after, be input to control host in, under intelligent space, camera obtain subject
The location information of person and the environmental information of surrounding, control host carry out calculation processing to EEG signals and location circumstances information, are
Subject, which provides, to be included estimating run duration and the navigation feature in programming movement path, i.e., by subject starting position and makes a reservation for
The distance of movement position and the subjective motion speed of subject estimate run duration, according to the location information of subject and surrounding
The real-time programming movement path of environmental information finally controls lower limb exoskeleton that subject is assisted to move to predeterminated target.
Embodiment
By taking subject wants to go to study as an example, in intelligent space, subject watches in LED visual stimulus displays and representing
The Newton's ring stimulation instructions of study order are reached, which is 10Hz, the visual evoked potential EEG generated immediately
After acquired and processing, it is input in control host, controls motion intention of the host by EEG's Recognition subject, then
Camera obtains the location information of subject and the environmental information of surrounding, control host to EEG signals and location circumstances information into
Row calculation processing provides the navigation feature including estimating run duration and programming movement path for subject, that is, passes through subject
The subjective motion speed of the distance and subject of starting position and predetermined movement position estimates run duration, according to the position of subject
Confidence ceases and the environmental information of surrounding hides the motion path of barrier in intelligent space using the planning in real time of Visual Graph method.It will be by
A point is regarded in examination person, study as, and barrier regarded as to the polygon surrounded by its vertex, subject, study and barrier
Each vertex is combined connection, and ensures that these straight lines do not intersect with barrier, just forms a figure, as Visual Graph.By
It is all visible in the vertex of arbitrary two straight line, reaching all paths in study along these straight lines from subject's point is
Nothing of the subject in intelligent space touches path, then with breadth-first search search customization shortest path.It finally will most
Short path is input to control host 4, and control host 4 controls lower limb exoskeleton that subject is assisted to move to study, completes instruction.
More than content is merely illustrative of the invention's technical idea, it is impossible to protection scope of the present invention is limited with this, it is every to press
According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within claims of the present invention
Protection domain within.
Claims (4)
1. brain-machine interface system based on stable state vision inducting under a kind of intelligent space, which uses a kind of visual stimulus
Device, including LED visual stimulus display (5), LED visual stimulus display (5) is by pitman (3) mounted on ceiling (1)
On, LED visual stimulus display (5) is interacted by visual stimulus drive system (2) and control host；LED visual stimulus are shown
Show on device (5) stimulation instructions shown according at least refreshing frequency of 100Hz for carrying out vision induced；LED visual stimulus are shown
Show that device (5) is the cuboid surrounded by four lateral emitting blocks (4), a bottom-face luminous block (6) and top flap, four sides
Light-emitting block (4) is identical with the content shown by bottom-face luminous block (6)；The length, width and height size of lateral emitting block (4) for 1.3m, 1m and
1.5m；It is bolted at the top of pitman (3) on ceiling (1), bottom is welded on LED visual stimulus display (5)
Top flap on；Visual stimulus drive system (2) is including being used to control all LED in LED visual stimulus display (5) to shine
Block shows the microcontroller of identical content and the triode for all LED light-emitting blocks to be driven to shine；LED light-emitting blocks are shown interior
Appearance includes word, arrow or Newton's ring instruction；
Brain-the machine interface system, which is characterized in that including：
Visual stimulator (5), for showing stimulation instructions；
Host is controlled, shortest path is calculated for the motion intention according to subject and location circumstances information, and by shortest path
It is converted to control instruction and is sent to lower limb exoskeleton；
Camera, for acquiring the environmental information of the location information of subject and surrounding；
EEG is acquired and processing unit, and for acquiring subject after observation visual stimulator (5), the EEG that cerebral cortex generates believes
Number, then control host is sent to after EEG signal is handled；
Lower limb exoskeleton is worn on subject's lower limb, for receiving the action command of control host, is assisted according to action command
Subject moves to target point according to shortest path.
2. brain-machine interface method based on stable state vision inducting under a kind of intelligent space using system described in claim 1,
It is characterized by comprising the following steps：
1) subject watches the corresponding stimulation instructions of target point on visual stimulator, the visual evoked potential that cerebral cortex generates
It is input to control host after processing, controls motion intention of the host by EEG's Recognition subject；
2) camera obtains the location information of subject and the environmental information of surrounding；
3) control host carries out calculation processing to position environmental information, and subject and target point are considered as one according to its position
Barrier is considered as a polygon by a coordinate points according to its position, and control host is subject in conjunction with EEG signals
It provides and includes estimating run duration and the navigation feature in programming movement path, obtain shortest path；
4) control host computer control lower limb exoskeleton assists subject to move to target point according to shortest path, completes instruction.
3. brain-machine interface method based on stable state vision inducting, feature exist under intelligent space according to claim 2
In, in the step 1), the pretreatment, feature extraction and identification classification of signal are included to the processing of visual evoked potential,
Middle pretreatment includes going DC component, signal filtering, removes eye electricity and Muscle artifacts and ICA removal interference components, and feature carries
It takes using wavelet analysis method, identification classification is using Artificial Neural Network.
4. brain-machine interface method based on stable state vision inducting, feature under the intelligent space according to Claims 2 or 3
It is, in the step 3), estimates run duration and programming movement path is specially：
Run duration is estimated by the subjective motion speed of the distance and subject of subject starting position and predetermined movement position,
According to the environmental information of the location information of subject and surrounding, using Visual Graph method, barrier in intelligent space is hidden in planning in real time
Motion path；
Wherein path planning is specially：
It regards subject, target point as a point, barrier is regarded as to the polygon surrounded by its vertex, subject, target
Each vertex of point and barrier is combined connection, and ensure that these straight lines do not intersect with barrier, just forms one visually
Figure, then with breadth-first search search customization shortest path.
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| CN107714331B (en) * | 2017-09-13 | 2019-06-14 | 西安交通大学 | The intelligent wheel chair of view-based access control model inducting brain-machine interface controls and method for optimizing route |
| CN108742957B (en) * | 2018-06-22 | 2021-02-09 | 上海交通大学 | Multi-sensor fusion artificial limb control method |
| CN112223253B (en) * | 2019-07-15 | 2022-08-02 | 上海中研久弋科技有限公司 | Exoskeleton system, exoskeleton identification control method, electronic device and storage medium |
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| CN204480175U (en) * | 2014-07-16 | 2015-07-15 | 天津职业技术师范大学 | A kind of view-based access control model brings out the intelligent electrical appliance control device of brain-computer interface |
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| CN101576772A (en) * | 2009-05-14 | 2009-11-11 | 天津工程师范学院 | Brain-computer interface system based on virtual instrument steady-state visual evoked potentials and control method thereof |
| CN204480175U (en) * | 2014-07-16 | 2015-07-15 | 天津职业技术师范大学 | A kind of view-based access control model brings out the intelligent electrical appliance control device of brain-computer interface |
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