CN110315541A - The brain electricity of multi-degree-of-freemechanical mechanical arm, eye computer machine control system - Google Patents
The brain electricity of multi-degree-of-freemechanical mechanical arm, eye computer machine control system Download PDFInfo
- Publication number
- CN110315541A CN110315541A CN201910659058.XA CN201910659058A CN110315541A CN 110315541 A CN110315541 A CN 110315541A CN 201910659058 A CN201910659058 A CN 201910659058A CN 110315541 A CN110315541 A CN 110315541A
- Authority
- CN
- China
- Prior art keywords
- signal
- brain
- module
- mechanical arm
- opening
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/013—Eye tracking input arrangements
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/011—Emotion or mood input determined on the basis of sensed human body parameters such as pulse, heart rate or beat, temperature of skin, facial expressions, iris, voice pitch, brain activity patterns
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
- Eye Examination Apparatus (AREA)
Abstract
The present invention provides the brain of multi-degree-of-freemechanical mechanical arm electricity, eye computer machine control system, are related to the technical field of brain-computer interface.Include: opening and closing instruction acquisition module, acquires non-brain signal and export opening and closing instruction；Category signal acquisition module acquires output category signal after brain signal；Cancel instruction acquisition module, acquire non-brain signal and exports cancellation instruction；Stimulating module exports stimulus signal；Command reception module is opened and closed, the opening and closing that opening and closing instructs and controls stimulating module is received；Category signal receiving module receives category signal and output action signal, while stimulating module shows the information that category signal includes；Cancel command reception module, receives and cancel instruction to intercept action signal；It further include the action signal receiving module for receiving action signal and the mechanical arm for completing corresponding actions.The output opening and closing and the interception of action signal that the present invention controls stimulus signal by feature significantly blink movement are cancelled, and the accuracy rate of brain machine exchange is improved.
Description
Technical field
The present invention relates to the technical fields of brain-computer interface, in particular to the brain electricity of multi-degree-of-freemechanical mechanical arm, eye computer machine control
System processed.
Background technique
Brain-computer interface is dedicated to constructing the bridge of brain and the interaction of external device direct information, allows user and external environment
Interaction be no longer dependent on normal peripheral nerve and muscle conduction channel.Pass through brain electricity of the acquisition user under different task
Signal, the processing obtained classification results of analysis are exported as control command to external device, realization user and external device
Directly exchange.Brain-computer interface is developed so far, and various experiment stimulation normal forms occurs, also produces various physiological signal collection dresses
It sets, is dedicated to classification accuracy, stability and the portability of raising system.
Patent publication No. is that the Chinese invention patent of CN103263324B discloses one kind based on SSVEP stable state vision inducting
The intelligent wheelchair system of current potential, including it is LED stroboscopic stimulator, electrode cap, brain electricity pretreatment circuit, wireless transmitting system, upper
Machine, wheelchair control circuit, electric wheelchair and automatic obstacle-avoiding module.User exports difference by watching LED stroboscopic stimulator attentively
EEG, brain electricity pretreatment circuit is led etc. processing analysis is carried out to EEG after export control command to wheelchair, to realize wheelchair
Difference movement.
But due to the instability feature of human brain signal (electroencephalography, EEG), single mode brain
The information exchange of the multiple degrees of freedom order control relatively difficult to achieve of machine interface, user and environment is extremely limited, limits to a certain extent
The development and application of brain-computer interface.And multi-mode brain-computer interface passes through while acquiring a variety of brain signals or brain is combined to believe
Number (electroencephalography, EEG) and non-brain signal, can use the respective advantage of unlike signal and is complementary to one another,
The nicety of grading of brain-computer interface and the freedom degree of output command signal are improved, is more convenient for using being conducive to the development of brain-computer interface
And application.
However, due to brain signal no matter which kind of state human body is under and all exists, so being difficult to determine a suitable touching
Clockwork spring part is easy to appear maloperation, and once exporting, user is also unable to learn in time and carries out control command under maloperation
Modification finally still will appear the action command of mistake, and user re-starts alternating current operation after can only waiting movement, increase
The complexity of operation.
Summary of the invention
The object of the present invention is to provide the brain of multi-degree-of-freemechanical mechanical arm electricity, eye computer machine control system, to solve brain signal
The problem of easy false triggering and user can not accidentally execute caused by mandatum cassatorium in time.
It include: main computer unit, including opening and closing instruction acquisition module, for acquiring non-brain signal and exporting opening and closing instruction；Point
Class signal acquisition module classify to it after brain signal and output category signal for acquiring；Cancel instruction acquisition module, uses
It is instructed in acquiring non-brain signal and exporting cancellation；
Stimulating unit, including stimulating module, for externally exporting stimulus signal；Command reception module is opened and closed, for receiving
The opening and closing instructs and controls the output opening and closing of the stimulating module；Category signal receiving module, for receiving the classification letter
Number and output action signal, while being shown by the information that the stimulating module includes to the category signal；Cancel instruction
Receiving module does not intercept movement letter when not collecting non-brain signal for receiving the cancellation instruction to intercept action signal
Number, action signal is intercepted when collecting non-brain signal；
External equipment, including action signal receiving module and mechanical arm, the action signal receiving module is for receiving institute
It states action signal and controls the mechanical arm and complete corresponding actions.
In above-mentioned technical proposal, non-brain signal is significantly easy to detect compared with brain signal, and non-brain signal is as opening and closing instruction
After can produce an apparent trigger condition, user can open stimulus signal by non-brain signal according to the wish of oneself
Output, at the same also can control stimulus signal stop output, in order to which user enters resting state, be avoided that under resting state or
Brain signal is exported under automatism leads to maloperation.After stimulus signal output, user is generated different by stimulus signal
Brain signal, main computer unit carry out classification processing after collecting different brain signals, and for output category signal to stimulating unit, stimulation is single
The information real-time display that category signal includes is fed back to user by member, in order to which user judges the correctness of exchange, if handing over
Mistake is flowed, user can be formed by non-brain signal and cancel instruction, to cancel the output of action signal, so as to cancel in time pair
The control of mechanical arm.
Opening and closing instruction acquisition module acquires different non-brain signals from instruction acquisition module is cancelled respectively, so that non-brain signal
It can control the output opening and closing of stimulus signal, moreover it is possible to as removing controls after miscommunication, both solve brain signal and be easy accidentally to touch
The problem of hair, the problem of false triggering state can not remove controls in time, and the characteristic remarkable of non-brain signal are also solved, acquisition is known
Other accuracy is higher, and opening and closing instruction and the false positive rate for cancelling instruction are lower, to ensure that user and external equipment spirit
It exchanges livingly, may advantageously facilitate the extensive utilization of brain-computer interface technology.
Further, the non-brain signal is electro-ocular signal, and the opening and closing instruction and cancellation instruction respectively correspond not
Same electro-ocular signal, wherein the corresponding movement repeatedly continuously blinked of opening and closing instruction, the corresponding single of cancellation instruction are simple eye
The movement of blink.
Further, the opening and closing instruction acquisition module is also stored with user's the first benchmark that repeatedly continuously blink acts
Value, the current potential on the opening and closing instruction acquisition module acquisition user's eyes vertical direction is as the First Eigenvalue and described the
One a reference value is compared, to export the opening and closing instruction.
Further, the first reference value corresponds to the movement that user continuously blinks three times.
Further, the acquisition of the opening and closing instruction acquisition module selects length for the cunning of X milliseconds (1000≤X≤1500)
Dynamic window, acquisition interval are 100 milliseconds.
Further, the stimulating module includes display, and the sudden strain of a muscle of multiple intermittent flashings is shown on the display
Bright block, the stimulus signal are exported by flashing the flashing of block to user, and the flicker frequency of the different flashing blocks is different.
Further, the information that the category signal includes is shown to user by the discoloration of the flashing block.
Further, second benchmark cancelled instruction acquisition module and be also stored with the simple eye blink movement of user's single
Value, the current potential cancelled in instruction acquisition module acquisition user's eyes horizontal direction is as Second Eigenvalue and described the
Two a reference values are compared, to export the cancellation instruction.
Further, second a reference value corresponds to the movement of user's single right eye blink.
Further, the cancellation instruction acquisition module selects length for the collecting window of Y milliseconds (1500≤Y≤2000)
Mouthful.
Detailed description of the invention
Fig. 1 is overall schematic of the invention；
Fig. 2 is module diagram of the invention；
Fig. 3 is the schematic diagram of stimulating module；
Fig. 4 is the electrode connection schematic diagram of brain electricity cap.
Wherein, 1, main computer unit；11, instruction acquisition module is opened and closed；12, category signal acquisition module；13, cancel instruction to adopt
Collect module；2, stimulating unit；21, command reception module is opened and closed；22, category signal receiving module；23, cancel command reception mould
Block；24, stimulating module；241, display；242, block is flashed；3, external equipment；31, action signal receiving module；32, mechanical
Arm.
Specific embodiment
In order to make technical problems, technical solutions and advantageous effects to be solved by the present invention are apparent to understand, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be understood that specific embodiment described herein is only to solve
The present invention is released, is not intended to limit the present invention.
Referring to Figures 1 and 2, including main computer unit 1, stimulating unit 2 and external equipment 3.Main computer unit 1 includes opening and closing instruction
Acquisition module 11, category signal acquisition module 12 and cancellation instruction acquisition module 13；Stimulating unit 2 includes stimulating module 24, opens
It closes command reception module 21, category signal receiving module 22 and cancels command reception module 23；External equipment 3 includes action signal
Receiving module 31 and mechanical arm 32.
Referring to Fig. 2, opening and closing instruction acquisition module 11 is used to acquire the electro-ocular signal of user and exports opening and closing instruction, the eye
Electric signal corresponds to the movement that user continuously blinks three times.It is continuous three times that user is also stored in opening and closing instruction acquisition module 11
The first reference value of blink movement, in collection process, opening and closing instruction acquisition module 11 select length for X milliseconds (1000≤X≤
1500) sliding window, the current potential acquired on first use person's eyes vertical direction at interval of 100 milliseconds is as fisrt feature
Value collected the First Eigenvalue is compared with first reference value in real time to export opening and closing instruction.Open and close instruction acquisition mould
Most preferably 1200 milliseconds of sliding window of the acquisition of block 11, since human body blinks the primary time about at 300 milliseconds or so, connect three times
The time of continuous blink about at 900 milliseconds or so, 1200 milliseconds of sliding window can cover in real time the movement continuously blinked three times and
The case where 100 milliseconds of interval acquisition can effectively reduce missing inspection generation.
Referring to Fig. 2 and Fig. 3, the output that opening and closing command reception module 21 receives control stimulating module 24 after opening and closing instructs is opened
It closing, after stimulating module 24 is opened, intermittent externally output stimulus signal, after stimulating module 24 is closed, user can rest,
Reduce maloperation.Stimulus signal is shown by the display 241 of stimulating module 24, is implemented are as follows: set in display 241
It is equipped with the flashing block 242 of 15 different flicker frequencies, all 242 flicker frequencies of flashing block are in 8~15Hz, two neighboring sudden strain of a muscle
0.5Hz is divided between the flicker frequency of bright block 242.Each flashing block 242 respectively corresponds the different control signals to mechanical arm 32,
When user watches different flashing blocks 242 attentively, different brain signals is generated.
Referring to Fig. 2, after category signal acquisition module 12 collects the different brain signals of user, classification processing is carried out, it is defeated
Category signal out.Category signal receiving module 22 receives output action signal after category signal, while right by stimulating module 24
The information that category signal includes shown, the method for display are as follows: the corresponding flashing block 242 of category signal is what user watched attentively
Flashing block 242 reddens.Flashing block 242 reddens can give user's feedback in time, and user is it can be seen that between stimulating unit 2
It whether correct exchanges.
After the information that category signal includes is shown the display of device 241, cancel the eye that instruction acquisition module 13 acquires user
Electric signal cancels instruction to export, and after user recognizes that display feedback is wrong, user can be exported by electro-ocular signal and be taken
Disappear instruction, to intercept action signal；When cancellation instruction acquisition module 13 does not collect the electro-ocular signal of user, no cancellation refers to
Output is enabled, action signal is not intercepted, and after action signal is exported, action signal receiving module 31 receives the action signal simultaneously
Control mechanical arm 32 is completed to act accordingly.
Cancel and instruct corresponding user's singly to blink right eye movement, is stored with user in cancellation instruction acquisition module 13 and singly blinks
Second a reference value of right eye movement in collection process, cancels instruction acquisition module 13 and Y millisecond (1500≤Y≤2000) is selected to grow
The window of degree, the current potential in collection analysis user's eyes horizontal direction is as Second Eigenvalue.By collected second feature
Value is compared to export and cancel instruction with the second a reference value.When collecting the movement for singly blinking right eye, action signal is intercepted,
When not collecting the movement for singly blinking right eye, action signal is not intercepted.The acquisition window for cancelling instruction acquisition module 13 is long
Most preferably 2000 milliseconds of degree, the window of 2000 milliseconds of length gives user's certain reaction time and the time blinked,
To improve the success rate for cancelling instruction output.
It the implementation principle of the present embodiment and has the beneficial effect that
Referring to Fig. 4, brain electricity cap is worn for user, electrode is placed according to the neuroelectricity record standard of international 10-20 system,
Electrode is respectively FP1, HEOR, Pz, PO3, POz, PO4, O1, Oz, O2, and the acquisition channel for opening and closing instruction is FP1, cancels instruction
Acquisition channel is HEOR.After on-test, from the blink continuous three times movement of the channel FP1 acquisition user, stimulus signal is controlled
Output, with open stimulation.
Referring to Fig. 2 and Fig. 3, after stimulation is opened, user is generated not by the flashing block 242 watched attentively on display 241
Same brain signal, category signal acquisition module 12 will corresponding point of block 242 of output and flashings after different brain signal acquisition process
Class signal.After category signal receiving module 22 receives category signal, output action signal, while also including by category signal
Information is shown to user by the feedback that reddens of flashing block 242.In 2000 milliseconds of length of window, adopted if cancelling instruction
When collection module 13 does not collect the single right eye blink movement of user, action signal is exported to action signal receiving module 31,
Realize the action control of mechanical arm 32；If cancelling the single right eye blink movement that instruction acquisition module 13 collects user,
Instruction output will be cancelled to command reception module 23 is cancelled, action signal can be intercepted by cancelling command reception module 23, most
Cancel the control to mechanical arm 32 eventually.
It is readily identified since the feature of signal of blinking is obvious in conjunction with table 1, as opening and closing instruction and cancel the operation instructed
Movement has excellent accuracy rate and true positive rate, and user's control is more flexible, can effectively avoid the false triggering of brain signal,
And after false triggering, moreover it is possible to remove controls in time, re-start operation, greatly improve the efficiency of brain machine exchange and accurate
Rate.
The acquisition experimental result of 1 electro-ocular signal of table
The above is only several preferred embodiments of the invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. the brain electricity of multi-degree-of-freemechanical mechanical arm, eye computer machine control system characterized by comprising
Main computer unit (1), including opening and closing instruction acquisition module (11), for acquiring non-brain signal and exporting opening and closing instruction；Classification
Signal acquisition module (12) classify to it after brain signal and output category signal for acquiring；Cancel instruction acquisition module
(13), for acquiring non-brain signal and exporting cancellation instruction；
Stimulating unit (2), including stimulating module (24), for externally exporting stimulus signal；It opens and closes command reception module (21), uses
It is opened and closed in receiving the output for opening and closing instruction and controlling the stimulating module (24)；Category signal receiving module (22), is used for
Receive the category signal and output action signal, while the information for including to the category signal by the stimulating module (24)
It is shown；Cancel command reception module (23), instructs for receiving the cancellation to intercept action signal, it is non-when not collecting
Action signal is not intercepted when brain signal, and action signal is intercepted when collecting non-brain signal；
External equipment (3), including action signal receiving module (31) and mechanical arm (32), the action signal receiving module (31)
Corresponding actions are completed for receiving the action signal and controlling the mechanical arm (32).
2. the brain electricity of multi-degree-of-freemechanical mechanical arm according to claim 1, eye computer machine control system, which is characterized in that institute
Stating non-brain signal is electro-ocular signal, and the opening and closing instruction and cancellation instruction respectively correspond different electro-ocular signals, wherein institute
The corresponding movement repeatedly continuously blinked of opening and closing instruction is stated, it is described to cancel the movement for instructing the corresponding simple eye blink of single.
3. the brain electricity of multi-degree-of-freemechanical mechanical arm according to claim 2, eye computer machine control system, which is characterized in that institute
It states opening and closing instruction acquisition module (11) and is also stored with user's first reference value that repeatedly continuously blink acts, the opening and closing instruction
Acquisition module (11) acquire the current potential on user's eyes vertical direction as the First Eigenvalue and the first reference value into
Row compares, to export the opening and closing instruction.
4. the brain electricity of multi-degree-of-freemechanical mechanical arm according to claim 3, eye computer machine control system, which is characterized in that institute
It states first reference value and corresponds to the movement that user continuously blinks three times.
5. the brain electricity of multi-degree-of-freemechanical mechanical arm according to claim 4, eye computer machine control system, which is characterized in that institute
The acquisition for stating opening and closing instruction acquisition module (11) selects length for the sliding window of X milliseconds (1000≤X≤1500), acquisition interval
It is 100 milliseconds.
6. the brain electricity of multi-degree-of-freemechanical mechanical arm according to claim 2, eye computer machine control system, which is characterized in that institute
Stating stimulating module (24) includes display (241), and the flashing block of multiple intermittent flashings is shown on the display (241),
The stimulus signal is exported by flashing the flashing of block to user, and the flicker frequency of the different flashing blocks is different.
7. the brain electricity of multi-degree-of-freemechanical mechanical arm according to claim 6, eye computer machine control system, which is characterized in that institute
It states the information that category signal includes and user is shown to by the discoloration of the flashing block.
8. the brain electricity of multi-degree-of-freemechanical mechanical arm according to claim 2, eye computer machine control system, which is characterized in that institute
It states and cancels the second a reference value that instruction acquisition module (13) are also stored with the simple eye blink movement of user's single, the cancellation instruction
Acquisition module (13) acquire the current potential in user's eyes horizontal direction as Second Eigenvalue and second a reference value into
Row compares, to export the cancellation instruction.
9. the brain electricity of multi-degree-of-freemechanical mechanical arm according to claim 8, eye computer machine control system, which is characterized in that institute
State the movement that the second a reference value corresponds to user's single right eye blink.
10. the brain electricity of multi-degree-of-freemechanical mechanical arm according to claim 9, eye computer machine control system, which is characterized in that institute
Stating cancellation instruction acquisition module (13) selects length for the acquisition window of Y milliseconds (1500≤Y≤2000).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910659058.XA CN110315541B (en) | 2019-07-22 | 2019-07-22 | Computer control system for brain electricity and eyes of multi-freedom-degree mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910659058.XA CN110315541B (en) | 2019-07-22 | 2019-07-22 | Computer control system for brain electricity and eyes of multi-freedom-degree mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110315541A true CN110315541A (en) | 2019-10-11 |
| CN110315541B CN110315541B (en) | 2020-10-27 |
Family
ID=68124219
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910659058.XA Active CN110315541B (en) | 2019-07-22 | 2019-07-22 | Computer control system for brain electricity and eyes of multi-freedom-degree mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110315541B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103324290A (en) * | 2013-07-04 | 2013-09-25 | 深圳市中兴移动通信有限公司 | Terminal equipment and eye control method thereof |
| CN106476281A (en) * | 2016-09-14 | 2017-03-08 | 西安科技大学 | Based on blink identification and vision induced 3D printer control method |
| CN107212883A (en) * | 2017-05-24 | 2017-09-29 | 天津理工大学 | A kind of mechanical arm writing device and control method based on brain electric control |
| CN108478189A (en) * | 2018-03-06 | 2018-09-04 | 西安科技大学 | A kind of human body ectoskeleton mechanical arm control system and method based on EEG signals |
| CN207824893U (en) * | 2017-12-08 | 2018-09-07 | 华南理工大学 | A kind of Dancing Robot rehabilitation system based on eye electricity |
| CN109521880A (en) * | 2018-11-27 | 2019-03-26 | 东南大学 | A kind of Teleoperation Systems and method based on the driving of mixed biologic electric signal |
| US20200057498A1 (en) * | 2016-10-27 | 2020-02-20 | Arizona Board Of Regents On Behalf Of Arizona State University | Systems and methods for a hybrid brain interface for robotic swarms using eeg signals and an input device |
-
2019
- 2019-07-22 CN CN201910659058.XA patent/CN110315541B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103324290A (en) * | 2013-07-04 | 2013-09-25 | 深圳市中兴移动通信有限公司 | Terminal equipment and eye control method thereof |
| CN106476281A (en) * | 2016-09-14 | 2017-03-08 | 西安科技大学 | Based on blink identification and vision induced 3D printer control method |
| US20200057498A1 (en) * | 2016-10-27 | 2020-02-20 | Arizona Board Of Regents On Behalf Of Arizona State University | Systems and methods for a hybrid brain interface for robotic swarms using eeg signals and an input device |
| CN107212883A (en) * | 2017-05-24 | 2017-09-29 | 天津理工大学 | A kind of mechanical arm writing device and control method based on brain electric control |
| CN207824893U (en) * | 2017-12-08 | 2018-09-07 | 华南理工大学 | A kind of Dancing Robot rehabilitation system based on eye electricity |
| CN108478189A (en) * | 2018-03-06 | 2018-09-04 | 西安科技大学 | A kind of human body ectoskeleton mechanical arm control system and method based on EEG signals |
| CN109521880A (en) * | 2018-11-27 | 2019-03-26 | 东南大学 | A kind of Teleoperation Systems and method based on the driving of mixed biologic electric signal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110315541B (en) | 2020-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106726030B (en) | Brain machine interface system and its application based on Clinical EEG Signals control robot movement | |
| CN103793058B (en) | A kind of active brain-computer interactive system Mental imagery classification of task method and device | |
| Pfurtscheller et al. | 15 years of BCI research at Graz University of Technology: current projects | |
| CN103699226B (en) | A kind of three mode serial brain-computer interface methods based on Multi-information acquisition | |
| CN106236079A (en) | Electric and the sleep monitor eyeshield of eye electricity compound detection and sleep monitor method for brain | |
| CN110840666B (en) | Wheelchair mechanical arm integrated system based on electro-oculogram and machine vision and control method thereof | |
| CN109366508A (en) | A kind of advanced machine arm control system and its implementation based on BCI | |
| CN101464728B (en) | Human-machine interaction method with vision movement related neural signal as carrier | |
| CN102866775A (en) | System and method for controlling brain computer interface (BCI) based on multimode fusion | |
| CN107957783A (en) | A kind of Multimode Intelligent control system and method based on brain electricity with myoelectric information | |
| CN107037883A (en) | A kind of mixing brain machine interface system and method based on Mental imagery | |
| CN103892829B (en) | Eye movement signal identification system based on common spatial mode and identification method thereof | |
| CN109471528A (en) | A kind of brain for brain-computer interface system-machine coadaptation system | |
| Birch et al. | Brain-computer interface research at the Neil Squire Foundation | |
| CN106681495B (en) | A kind of asynchronous characters input method and device based on EOG | |
| CN101301244A (en) | Intelligent wheelchair control system based on brain-machine interface and brain-electrical signal processing method thereof | |
| US20210247843A1 (en) | Smart control device for determining user's intention from color stimulus based on brain-computer interface and control method thereof | |
| Prueckl et al. | A brain-computer interface based on steady state visual evoked potentials for controlling a robot | |
| CN106708273A (en) | Switch device based on EOG and switch key implementing method | |
| CN108491792B (en) | Office scene human-computer interaction behavior recognition method based on electro-oculogram signals | |
| Edlinger et al. | A hybrid brain-computer interface for improving the usability of a smart home control | |
| CN109032347A (en) | One kind controlling mouse calibration method based on electro-ocular signal | |
| CN113359991A (en) | Intelligent brain-controlled mechanical arm auxiliary feeding system and method for disabled people | |
| CN110315541A (en) | The brain electricity of multi-degree-of-freemechanical mechanical arm, eye computer machine control system | |
| CN206400210U (en) | The intelligent AR glasses devices of brain wave control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |