JP2005211482A - Brain wave control device, control method and program therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a brain wave control device which works a robot to allow a user to enjoy lots of alfa waves unconsciously with no intention exerted to generate the alfa waves. <P>SOLUTION: The brain wave control device 30 is a device for switching a plurality of action patterns to actuate a robot and to control the electroencephalogram of a user acknowledging the robot, and comprises an electroencephalogram acquisition means 31 for acquiring the electroencephalogram of the user, an electroencephalogram analysis means 32 for analyzing the acquired electroencephalogram to determine the level of a generated alfa wave, an alfa wave generation level comparison means 34 for comparing the determined alfa wave generation level with a predetermined threshold, and a control signal sending means 35 for sending a control signal which indicates the robot to change-over the actions when the comparison shows that the alfa wave generates at a low level. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an electroencephalogram control apparatus, a method thereof, and a program therefor, which control an electroencephalogram of a subject who has recognized the moving object by causing a moving object such as a robot to perform a plurality of operations.

  Currently, research on brain waves is progressing, and brain waves are classified into four types. As shown in FIG. 11, each brain wave has a beta (β) wave (equivalent to 14 to 30 hertz), an alpha (α) wave (equivalent to 8 to 13 hertz), and a theta (θ) in order from the highest frequency. Waves (corresponding to 4 to 7 hertz) and delta (δ) waves (corresponding to 0.5 to 3 hertz) are obtained.

  It has also been clarified that these electroencephalograms have a very deep relationship with mental activity. For example, beta waves often appear during normal conditions or when there are concerns, and alpha waves often appear during meditation or when relaxed. In addition, theta waves frequently appear in a stagnation state, and delta waves frequently appear in a deep sleep.

Among them, the most frequently generated alpha wave in an extremely relaxed state of mind and body attracts attention, and there are various techniques using this alpha wave.
For example, there is a so-called biofeedback technique in which the state of alpha waves is presented to a subject using light or sound, and the subject consciously enhances alpha waves (see, for example, Patent Document 1).

  In the technique (biofeedback) disclosed in Patent Document 1, a subject's brain wave is electrically detected from the head, and the state of the brain wave (alpha wave) is represented by a figure (for example, the size of a circle). Is expressed on the display screen. If the alpha on the display screen is smaller and more alpha waves appear, the subject tries to consciously make the circle smaller while looking at the figure. As described above, the biofeedback in Patent Document 1 or the like performs training for the subject to control the alpha wave.

In addition, a technique is disclosed that uses alpha waves to adjust the amount of air that the subject feels comfortable in an air conditioning facility (see Patent Document 2). In the technology (comfortable environment control device) disclosed in Patent Document 2, an alpha wave is extracted from the brain wave of the subject detected by the brain wave sensor. Then, based on the regression coefficient obtained from the frequency fluctuation of the alpha wave, the air volume or the like is adjusted so that the subject's comfort is maximized. As described above, the comfortable environment control device in Patent Document 2 provides a comfortable environment to a target person in a personal environment.
JP 2002-125945 A (paragraphs 0016 to 0019, FIGS. 3 and 4) Japanese Patent Laid-Open No. 7-145981 (paragraphs 0027 to 0030, FIGS. 1 and 2)

  However, in the method of enhancing alpha waves by biofeedback, which is disclosed in Patent Document 1 and the like, the current alpha wave state is presented to the subject by feedback, and the subject is at his / her own will. Since training is performed to make many alpha waves appear, it may be difficult to make many alpha waves appear due to individual differences among subjects. In addition, there is a problem that this training feels painful for the subject who is difficult to make many alpha waves appear in this way.

  Furthermore, with conventional biofeedback, alpha waves are controlled using monotonous light and sound, so training for a long time would cause pain to the subject. .

  Moreover, with the comfortable environment control device disclosed in Patent Document 2, it is possible to increase the alpha wave of the subject and provide the subject with a comfortable environment. However, this comfortable environment control device is based on the premise that alpha waves are emitted from the subject's brain waves while the subject is mentally stable. For this reason, for example, if the target person is an infant, the interest of the infant changes or the infant moves, so that the normal mental state where a lot of beta waves are out of the normal mental state where a lot of alpha waves are out There was a problem that it was difficult to migrate.

  The present invention has been made to solve the above-mentioned problems, and the subject person has a lot of alpha waves unconsciously while having fun without making efforts to make the alpha waves appear on his own intention. An object of the present invention is to provide an electroencephalogram control apparatus, a method thereof, and a program thereof that can be made to appear.

  The present invention has been made to achieve the above object. First, the electroencephalogram control apparatus according to claim 1 is configured to have a plurality of operation patterns for a subject whose electroencephalogram is detected by the electroencephalogram detection apparatus. Is an electroencephalogram control apparatus that controls the subject's electroencephalogram by recognizing an operating object that operates by switching the electroencephalogram, the electroencephalogram acquisition means, the electroencephalogram analysis means, the alpha wave appearance amount comparison means, and the control signal transmission means It was set as the structure provided with.

  According to such a configuration, the electroencephalogram control apparatus acquires, from the electroencephalogram detection means, the electroencephalogram acquisition means, the electroencephalogram of the subject when recognizing the action of an operating object such as a robot with the eyes open. The brain wave acquired here changes in the waveform of an alpha wave or the like when the subject recognizes the motion of the moving object. Therefore, the electroencephalogram control device converts the time-series electroencephalogram data to the data for each frequency by fast Fourier transform by the electroencephalogram analysis means, and the appearance of the frequency (8 to 13 hertz) corresponding to the alpha wave therefrom. Measure the amount. For example, the electroencephalogram analysis means calculates the ratio of the energy value in the frequency region of the alpha wave to the energy value in the entire frequency region of the electroencephalogram, and sets it as the appearance amount of the alpha wave.

  Then, the electroencephalogram control apparatus compares the appearance amount of the alpha wave measured by the electroencephalogram analysis means with the preset threshold value by the alpha wave appearance amount comparison means. For example, this threshold is 50%. In addition, by comparing this threshold value with the appearance amount of the alpha wave, the electroencephalogram control apparatus can determine whether or not a lot of alpha waves are generated from the brain wave of the subject.

  Furthermore, the electroencephalogram control device controls the operation object to switch the operation pattern when the appearance amount of the alpha wave is smaller than the threshold value by the control signal transmission unit when the alpha wave appearance amount is smaller than the threshold value. Send a signal. If the moving object does not continue to perform the same operation, a control signal that instructs the moving object to continue the operation of the current operation pattern should be sent to the moving object when the amount of alpha waves appears is large. It is good. As a result, the moving object that has received this control signal can sequentially perform operations that allow the subject to emit a large amount of alpha waves.

  The brain wave control apparatus according to claim 2 controls the brain wave of the subject by operating a moving object by switching a plurality of motion patterns for the subject whose brain wave is detected by the brain wave detecting device. An electroencephalogram control apparatus that includes control information storage means, electroencephalogram acquisition means, electroencephalogram analysis means, alpha wave appearance amount comparison means, control information selection means, and control signal transmission means.

  According to such a configuration, the electroencephalogram control apparatus stores control information for specifying the operation of the operation pattern in the control information storage unit in advance. This control information is information for specifying a motion pattern when the motion object moves the motion pattern, and is, for example, a motion instruction command for instructing the motion pattern.

  Further, the electroencephalogram control apparatus acquires the electroencephalogram of the subject when the action of the moving object is recognized from the electroencephalogram detection apparatus by the electroencephalogram acquisition means. The electroencephalogram control device measures the appearance amount of the alpha wave by analyzing the acquired electroencephalogram by the electroencephalogram analysis means, and further, the appearance of the alpha wave measured by the electroencephalogram analysis means by the alpha wave appearance amount comparison means. The amount is compared to a preset threshold.

  Then, the electroencephalogram control apparatus selects control information to be operated next from the control information storage means by the control signal transmission means based on the comparison result compared by the alpha wave appearance amount comparison means. For example, when it is determined in the comparison result that the appearance amount of the alpha wave is small, the control signal transmission means selects another control information stored in the control information storage means, and the appearance amount of the alpha wave is large. If it is determined, the control signal showing the same operation is selected. Then, the electroencephalogram control apparatus sends the control information selected by the control information selection means by the control signal sending means as a control signal for instructing the action pattern to the action object. As a result, the moving object that has received this control signal can sequentially perform operations that allow the subject to emit a large amount of alpha waves.

  Furthermore, the electroencephalogram control apparatus according to claim 3 is the electroencephalogram control apparatus according to claim 2, further comprising priority order determining means and priority order storage means, wherein the control information selection means is the priority order storage means. The control information of the operation pattern to be operated next is selected from the control information storage means based on the priority order stored in the control information storage unit.

  According to this configuration, the electroencephalogram control apparatus determines the priority order for operating the motion pattern by the priority order determining means, and stores the priority order in the priority order storage means in association with the motion pattern. The priority order determining means determines the priority order based on the appearance amount of the alpha wave, so that the control information selecting means can recognize an operation pattern having a high priority order. Therefore, the control information selection means selects the control information by setting the operation pattern having the higher priority as the operation pattern to be operated next. As a result, the control information selection unit can select an operation that allows the subject to emit more alpha waves.

  The electroencephalogram control apparatus according to claim 4 is the electroencephalogram control apparatus according to any one of claims 1 to 3, wherein an appearance amount of an alpha wave when the subject feels comfortable in advance is determined. It comprises a stored comfortable brain wave level storage means, and the alpha wave appearance amount comparison means uses the appearance amount as the threshold value.

  According to such a configuration, the electroencephalogram control apparatus previously stores the appearance amount of alpha waves when the subject feels comfortable in the comfortable electroencephalogram level storage means. For example, a plurality of motions are performed on the motion object in advance, and whether the subject feels comfortable for each motion is investigated, and the lower limit of the appearance amount of the alpha wave when the subject feels comfortable is used as a threshold value Remember. Thus, this threshold value can be used as a reference for determining whether the subject feels comfortable.

  Furthermore, the brain wave control method according to claim 5 controls the brain wave of the subject by operating a moving object by switching a plurality of motion patterns for the subject whose brain wave has been detected by the brain wave detecting device. An electroencephalogram control method that includes an electroencephalogram acquisition step, an electroencephalogram analysis step, an alpha wave appearance amount comparison step, and a control signal transmission step.

  According to this procedure, in the electroencephalogram control method, the electroencephalogram acquisition step acquires the electroencephalogram of the subject when recognizing the action of an action object such as a robot from the electroencephalogram detection apparatus. Then, in the electroencephalogram control method, the appearance amount of the alpha wave is measured by analyzing the electroencephalogram in the electroencephalogram analysis step.

  Further, in the electroencephalogram control method, the alpha wave appearance amount comparison step compares the alpha wave appearance amount measured in the electroencephalogram analysis step with a preset threshold value. By comparing this threshold value with the appearance amount of alpha waves, it is possible to determine whether or not a lot of alpha waves are generated from the subject's brain waves. Therefore, in the electroencephalogram control method, when the control signal transmission step determines that the appearance amount of the alpha wave in the subject's electroencephalogram is small in the comparison result of the alpha wave appearance amount comparison step, A control signal instructing switching is sent out.

  When the moving object does not continue to perform the same operation, the electroencephalogram control method performs the operation on the moving object when it is determined by the control signal sending step that the appearance amount of the alpha wave is large. A control signal for instructing continuation is sent. As a result, the moving object that has received this control signal can sequentially perform operations that allow the subject to emit a large amount of alpha waves.

  The brain wave control program according to claim 6 controls the brain wave of the subject by operating a moving object by switching a plurality of motion patterns for the subject whose brain wave has been detected by the brain wave detecting device. Therefore, the computer is configured to function as an electroencephalogram acquisition means, an electroencephalogram analysis means, an alpha wave appearance amount comparison means, and a control signal transmission means.

  According to such a configuration, the electroencephalogram control program acquires the electroencephalogram of the subject when recognizing the motion of the moving object such as a robot from the electroencephalogram detection device by the electroencephalogram acquisition means, and the electroencephalogram analysis means then The amount of appearance of alpha waves is measured by analyzing.

  Then, the electroencephalogram control program compares the alpha wave appearance amount measured by the electroencephalogram analysis means with the preset threshold value by the alpha wave appearance amount comparison means. When the control signal sending means determines that the appearance amount of the alpha wave in the subject's brain wave is small by the comparison result of the alpha wave appearance amount comparison means, the electroencephalogram control program performs the action on the moving object. A control signal instructing switching is sent out.

  If the moving object does not continue to perform the same operation, the electroencephalogram control program performs an action on the moving object when the control signal transmission means determines that the appearance amount of the alpha wave is large. A control signal for instructing continuation is sent. As a result, the moving object that has received this control signal can sequentially perform operations that allow the subject to emit a large amount of alpha waves.

According to the invention of claim 1, claim 2, claim 5 or claim 6, in a state in which the subject recognizes a moving object such as a robot, the motion is performed based on the appearance amount of the alpha wave of the subject. The movement of the object can be switched. This allows the subject to maintain a relaxed mental state with alpha waves by simply recognizing the moving object with his eyes open without consciously trying to produce a lot of alpha waves. it can.
Further, according to the present invention, by using, for example, a robot as the moving object, many alpha waves of the subject can appear unconsciously while having fun. Thereby, even if the subject is a young person such as an infant, a relaxed mental state can be maintained.

  According to the third aspect of the present invention, the priority of the motion pattern in which the moving object operates can be determined based on the appearance amount of the alpha wave. It is possible to lower the priority order and prevent the operation from being executed. As a result, the electroencephalogram control apparatus can cause the moving object to execute an operation in which the subject emits more alpha waves, and can create an environment in which the subject feels comfortable.

  According to the fourth aspect of the present invention, the appearance amount of alpha waves when the subject feels comfortable is stored in advance, and the alpha that the subject is currently using is based on the appearance amount as a reference (threshold). It can be determined whether the amount of waves is an amount that is comfortable for the subject. Accordingly, it is possible to cause the moving object to perform an operation that the subject feels comfortable according to the sensitivity of the subject.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Outline of electroencephalogram control system]
First, an outline of an electroencephalogram control system that controls the subject's electroencephalogram will be described with reference to FIG. FIG. 1 is a block diagram showing a configuration of an electroencephalogram control system. The electroencephalogram control system 1 controls an electroencephalogram of a subject who has recognized the moving object by switching a plurality of operation patterns and operating the moving object such as a robot. Here, the electroencephalogram control system 1 includes a robot 10, an electroencephalogram detection device 20, and an electroencephalogram control device 30.

  The robot (moving object) 10 performs various actions that the subject M likes (feels comfortable) based on the control signal from the electroencephalogram control apparatus 30. This robot 10 can change the brain wave (alpha wave etc.) of the subject M by presenting various operations to the subject M.

  For example, a pet robot “AIBO (registered trademark)” developed by Sony Corporation can be used as the robot 10. As for “AIBO”, a software development environment is open to the public, and anyone can freely create an operation program of “AIBO”. Thereby, “AIBO” can execute a plurality of standardized operation patterns as shown in FIG. 6, for example. As an example, by “moving the mouth from the sitting state”, the “yawning” action (number 6 in the figure) is executed, or by “turning the body sideways from the lying state” It is possible to execute a “sleeping” operation (number 18 in the figure).

  Note that the robot 10 may be another moving object as long as the operation pattern can be switched based on a control signal from the outside. In addition, the moving object may be, for example, one that switches a video displayed on the display screen by a control signal.

  The electroencephalogram detection apparatus 20 detects an electroencephalogram of the subject M, and includes a sensor 20a and an electroencephalogram measurement apparatus 20b.

  The sensor 20a includes an electrode (not shown) and measures a potential difference (voltage) on the scalp. For example, the potential difference is measured with respect to a point on the scalp having a potential change with reference to an earlobe or the like with little potential change.

  The electroencephalogram measuring apparatus 20b measures the potential difference measured by the sensor 20a at a specific time interval (for example, 10 milliseconds) and measures it as an electroencephalogram. The measured electroencephalogram is output to the electroencephalogram controller 30 as serial data or parallel data via a serial cable such as RS-232C or a parallel cable such as IEEE 1284, for example.

The electroencephalogram control device 30 controls the electroencephalogram of the subject M who has recognized the robot 10 by switching the operation pattern of the robot 10 based on the electroencephalogram detected by the electroencephalogram detection device 20. For example, if the electroencephalogram control apparatus 30 determines that many alpha waves appear in the electroencephalogram (above a certain threshold), the electroencephalogram control apparatus 30 sends a control signal to the robot 10 to continue the current operation. When it is determined that the alpha wave is small (less than a certain threshold), a control signal for switching to another operation is sent to the robot 10. The electroencephalogram control apparatus 30 compares the appearance amount of the alpha wave with a threshold value every specific period (including all or part of the time from the start to the end of one operation), and continues the current operation. Determine whether or not.
By configuring the electroencephalogram control system 1 in this way, the subject M can maintain a relaxed state in which a large number of alpha waves are generated only by observing the operation performed by the robot 10.

[Details of electroencephalogram control device]
Next, the electroencephalogram control apparatus according to the present invention will be described in more detail.

(First embodiment: configuration of electroencephalogram control apparatus)
First, the configuration of the electroencephalogram control apparatus according to the first embodiment will be described with reference to FIG. 2 (refer to FIG. 1 as appropriate). FIG. 2 is a block diagram showing a configuration of the electroencephalogram control apparatus according to the first embodiment. Here, the electroencephalogram control apparatus 30 includes an electroencephalogram acquisition means 31, an electroencephalogram analysis means 32, a comfortable electroencephalogram level storage means 33, an alpha wave appearance amount comparison means 34, and a control signal transmission means 35.

  In the first embodiment, the robot 10 incorporates a program for executing a plurality of operation patterns in advance, and the execution (continuation) or switching of the operation pattern is performed based on an external control signal. Shall be performed.

  The electroencephalogram acquisition means 31 acquires the electroencephalogram of the subject M when the operation of the robot 10 detected by the electroencephalogram detection device 20 is recognized. Here, the electroencephalogram acquisition means 31 uses, for example, serial data obtained by sampling the electroencephalogram measurement apparatus 20b at a certain time interval via a serial cable such as RS-232C as a numerical value (for example, an actual value of an electroencephalogram). Voltage value) and output to the electroencephalogram analysis means 32. The brain wave acquisition means 31 acquires the brain wave of the subject M at intervals of 10 milliseconds, for example.

  The electroencephalogram analysis means 32 analyzes the electroencephalogram (voltage value) of the subject M acquired by the electroencephalogram acquisition means 31, and measures the appearance amount of alpha waves indicating the degree to which the subject M feels comfortable. Here, the electroencephalogram analysis means 32 includes a frequency analysis unit 32a and an alpha wave detection unit 32b.

  The frequency analysis unit 32a analyzes a frequency component included in an electroencephalogram by converting a time domain waveform into a frequency domain spectrum. The frequency analysis unit 32a analyzes the frequency of the electroencephalogram, which is time-series data acquired by the electroencephalogram acquisition means 31, by, for example, fast Fourier transform (FFT), etc. Density). That is, as shown in FIG. 7, the frequency analysis unit 32a performs fast Fourier transform (FFT) on the waveform of the electroencephalogram (FIG. 7A) when the horizontal axis is time and the vertical axis is the potential difference (voltage). Thus, the spectrum for each frequency (FIG. 7B) is calculated with the horizontal axis representing the frequency and the vertical axis representing the spectrum.

  The alpha wave detection unit 32b detects an alpha wave included in the brain wave based on the spectrum for each frequency calculated by the frequency analysis unit 32a, and obtains the appearance amount thereof. Here, the ratio of the amount of spectrum (energy value) at the frequency of the alpha wave to the amount of spectrum (total energy value) at all frequencies including the beta wave, alpha wave, theta wave, and delta wave is defined as the appearance amount of the alpha wave. To do. It should be noted that the appearance amount of the alpha wave obtained here is an index indicating the degree of comfort when the subject M recognizes the robot 10. Hereinafter, the appearance amount of the alpha wave when the target person M recognizes the robot 10 is referred to as an electroencephalogram level during recognition.

  The comfortable electroencephalogram level storage means 33 stores a comfortable electroencephalogram level at which the subject M feels comfortable and is a general storage device such as a memory. The comfortable electroencephalogram level storage means 33 stores the appearance amount of alpha waves measured in advance when the subject M feels comfortable as the comfortable electroencephalogram level 33a.

This comfortable brain wave level 33a is, for example, the amount of spectrum (energy value) at the frequency of the alpha wave relative to the spectrum amount (total energy value) at all frequencies including the beta wave, alpha wave, theta wave, and delta wave in the brain wave. It is a ratio (ratio). Alternatively, the comfortable electroencephalogram level 33a may be the spectral amount (energy value) itself at the frequency of the alpha wave.
The comfortable electroencephalogram level stored in the comfortable electroencephalogram level storage means 33 is a reference (threshold value) for determining whether or not the subject M feels comfortable.

  The alpha wave appearance amount comparison means 34 compares the electroencephalogram level during recognition (alpha wave appearance quantity) measured by the electroencephalogram analysis means 32 with the comfortable electroencephalogram level 33 a stored in the comfortable electroencephalogram level storage means 33. It is. Based on this comparison result, it can be determined whether or not the subject M feels comfortable. For example, the alpha wave appearance amount comparison means 34 compares the electroencephalogram level during recognition with the comfortable electroencephalogram level 33a, and if the electroencephalogram level during recognition is equal to or greater than the comfort electroencephalogram level 33a, the comparison result is “1”. Is less than the comfortable electroencephalogram level 33a, “0” is output to the control signal sending means 35 as a comparison result.

  Based on the comparison result output from the alpha wave appearance amount comparison unit 34, the control signal transmission unit 35 transmits a control signal for instructing the robot 10 to continue or switch the operation via the communication line. Is. Here, when “1” is input as the comparison result, the control signal transmission means 35 determines that the recognition EEG level is the comfortable EEG level 33a or higher and the comfort level felt by the subject M is large. it can. When “0” is input as the comparison result, it can be determined that the recognition EEG level is less than the comfortable EEG level 33a and the comfort level felt by the subject M is small.

  Therefore, when it is determined from the comparison result that the comfort level of the subject M is large, the control signal sending means 35 gives a control signal (instruction to the robot 10 to execute (continue) the current operation). Send execution instruction signal). If it is determined from the comparison result that the degree of comfort of the subject M is small, a control signal (switching instruction signal) indicating an instruction to stop the current operation and switch to another operation is given to the robot 10. Send it out.

  For example, the robot 10 that has received the switching instruction signal sequentially switches and executes the operation patterns shown in FIG. If the robot 10 continues to perform the same operation until it receives the switching instruction signal, the control signal sending means 35 does not need to send the continuation instruction signal.

  By configuring the electroencephalogram control apparatus 30 in this manner, the electroencephalogram control apparatus 30 continues the operation of the robot 10 when a large amount of alpha waves are detected from the electroencephalogram of the subject M, and the stage where the alpha waves have decreased. Thus, another operation can be performed. As a result, the subject M can maintain a state where a lot of alpha waves are generated without intentionally increasing the alpha waves, and a relaxed and comfortable environment can be constructed for the subject M.

  As mentioned above, although the structure of the electroencephalogram control apparatus 30 was demonstrated based on one Embodiment, this invention is not limited to this. For example, the electroencephalogram measurement apparatus 20b may be provided in the electroencephalogram control apparatus 30.

  The electroencephalogram control apparatus 30 can be realized by causing a general computer to execute a program and operating an arithmetic device or a storage device in the computer. This program (electroencephalogram control program) can be distributed via a communication line, or can be written and distributed on a recording medium such as a CD-ROM.

(First embodiment: operation of an electroencephalogram control apparatus)
Next, the operation of the electroencephalogram control apparatus according to the first embodiment will be described with reference to FIG. 3 (see FIGS. 1 and 2 as appropriate). FIG. 3 is a flowchart showing the operation of the electroencephalogram control apparatus according to the first embodiment.

<EEG acquisition step>
First, the electroencephalogram control apparatus 30 sends an “execution instruction signal” as a control signal to the robot 10 by the control signal sending means 35, thereby giving an operation command to the robot 10 (step S1).

  Then, the electroencephalogram control apparatus 30 acquires the electroencephalogram measured by the electroencephalogram detection apparatus 20 in the state where the subject M recognizes the movement of the robot 10 as serial data by the electroencephalogram acquisition means 31 (step S2). Serial data is converted into a voltage value (step S3).

<Electroencephalogram analysis step>
The electroencephalogram control apparatus 30 converts the electroencephalogram (voltage value) acquired by the electroencephalogram acquisition means 31 into a frequency by performing a fast Fourier transform (FFT) by the frequency analysis unit 32a of the electroencephalogram analysis means 32 (step S4). ).

  Then, the electroencephalogram control device 30 detects the alpha wave included in the electroencephalogram based on the spectrum for each frequency calculated by the frequency analysis unit 32a by the alpha wave detection unit 32b of the electroencephalogram analysis means 32, and determines the appearance amount thereof. Ask. Here, the ratio of the spectrum amount (energy value) at the frequency of the alpha wave to the spectrum amount (total energy value) at all frequencies is calculated as the appearance amount of the alpha wave, and is set as the brain wave level at the time of recognition (step S5). .

<Alpha wave appearance amount comparison step>
Then, the electroencephalogram control apparatus 30 uses the alpha wave appearance amount comparison means 34 to measure the recognition-time electroencephalogram level calculated in step S5 in advance, and stores the subject M stored in the comfortable electroencephalogram level storage means 33. Is compared with a threshold value (comfortable electroencephalogram level 33a) that is a level of an electroencephalogram that feels comfortable (step S6). The comparison result is output to the control signal sending means 35.

<Control signal sending step>
Then, if the electroencephalogram level during recognition is equal to or higher than the threshold value (Yes in step S6) in the comparison result in step S6, the electroencephalogram control apparatus 30 causes the control signal sending means 35 to generate a lot of alpha waves from the subject M and the comfort level. Is determined to be large (step S7). On the other hand, in the comparison result of step S6, when the electroencephalogram level at the time of recognition is less than the threshold value (No in step S6), the control signal sending means 35 determines that the alpha wave in the brain wave of the subject M is small and the comfort level is small ( Step S8).

  Based on the determination result of step S7 or step S8, the control signal sending means 35 determines the control signal (step S9), returns to step S1, and sends the control signal to the robot 10 via the communication line. Is sent out.

  In this step S9, when the control signal transmission means 35 determines that the degree of comfort is large as a determination result, the control signal transmission means 35 uses the “execution instruction signal” for instructing continuation of the operation as the control signal. Further, when it is determined that the degree of comfort is small as a determination result, a “switching instruction signal” instructing switching of the operation is used as a control signal.

  By continuously operating the above operations, the electroencephalogram control apparatus 30 can maintain a state where a lot of alpha waves are generated in the brain waves of the subject M, and can construct a relaxed and comfortable environment for the subject M. it can.

(Second Embodiment: Configuration of EEG Control Device)
Next, the configuration of the electroencephalogram control apparatus according to the second embodiment will be described with reference to FIG. 4 (refer to FIG. 1 as appropriate). FIG. 4 is a block diagram showing the configuration of the electroencephalogram control apparatus according to the second embodiment. This electroencephalogram control apparatus 30B ranks the movement patterns of the movements performed by the robot 10 based on the rate of appearance of alpha waves of the subject M, and switches the movement patterns of the robot 10 based on the ranks. . Here, the electroencephalogram control apparatus 30B includes an electroencephalogram acquisition means 31, an electroencephalogram analysis means 32, a comfortable electroencephalogram level storage means 33, an alpha wave appearance amount comparison means 34, a control signal transmission means 35B, and an operation information storage means 36. And a control information selection means 37 and a priority order determination means 38.

In this electroencephalogram control apparatus 30B, in the electroencephalogram control apparatus 30 shown in FIG. 2, the control signal sending means 35 is changed to a control signal sending means 35B whose function is changed, and further, an operation information storage means 36 and a control information selecting means. 37 and priority determining means 38 are added. Since the configuration other than the control signal transmission unit 35B, the operation information storage unit 36, the control information selection unit 37, and the priority order determination unit 38 is the same as that of the electroencephalogram control apparatus 30, the same reference numerals are given and description thereof is omitted. To do.
It is assumed that the robot 10 performs an operation based on control information that specifies an operation of an operation pattern, which is a control signal transmitted from the electroencephalogram control apparatus 30B.

  The control signal sending means 35B sends the control information selected by the control information selecting means 37, which will be described later, to the robot 10 as a control signal for instructing an operation pattern via a communication line.

  The motion information storage means (corresponding to control information storage means and priority order storage means) 36 includes motion control information 36a for operating a plurality of motion patterns of the robot 10 and when the robot 10 operates a plurality of motion patterns. It stores priority order information 36b indicating the priority order of operation patterns, and is a general storage device such as a memory.

  The motion control information 36a is information in which the motion pattern of the robot 10 is associated with control information (for example, a motion instruction command) for the robot 10. For example, as shown in FIG. 8, an operation instruction command C for the robot 10 is associated with each operation pattern (operation pattern number N) in advance. Note that the operation instruction command C, which is the control information, may be a single operation instruction command as shown in FIG. 8, or may be a plurality of operation instruction commands for continuously operating a plurality of operations. Here, as an example, the operation instruction command C is indicated by a hexadecimal value. Here, although the number of control information is “20”, the number is not limited to this number.

  The priority order information 36b is information in which the operation pattern of the robot 10 is associated with the priority order of the operation pattern. For example, as shown in FIG. 9, for each operation pattern (operation pattern number N), the weight W of each operation pattern is associated as a priority order. In other words, the higher the weight W, the higher the priority. In the example of FIG. 9, when the operation pattern number N is “1”, the priority (weight W) is “20”, the highest priority, and when the operation pattern number N is “20”, the priority (Weight W) is “1”, which is the lowest priority.

  The priority information 36b may be set with the same weight as an initial value, or based on the appearance amount of an alpha wave when the subject M recognizes the motion of the motion pattern in advance. It is good also as ranking according to the order of the appearance amount of an alpha wave.

  The control information selection unit 37 selects control information for specifying the next operation pattern to be operated from the operation information storage unit 36 based on the comparison result of the alpha wave appearance amount comparison unit 34. Before selecting control information, the control information selection means 37 notifies the priority order determination means 38, which will be described later, of the comparison result of the alpha wave appearance amount comparison means 34, and the priority order determination means 38 sends the operation information storage means. It is assumed that the control information is selected at the stage where the update of the priority information 36b stored in 36 is notified.

  The control information selection means 37 searches the priority order information 36b stored in the action information storage means 36 for the action pattern number N (see FIG. 9) having the highest priority (the largest weight), and The operation instruction command C (see FIG. 8) corresponding to the operation pattern number N is selected from the operation control information 36a. The selected operation instruction command (control information) is output to the control signal sending means 35B.

  The priority order determination means 38 is for determining the priority order of the priority order information 36b stored in the motion information storage means 36 based on the brain wave level at the time of recognition of the subject M (appearance amount of alpha wave). The priority order determining means 38 determines the priority order when the recognition-time electroencephalogram level is higher or lower than the predetermined level (comfortable electroencephalogram level 33a). Note that since the comparison of the predetermined level (comfortable electroencephalogram level 33a) has already been performed by the alpha wave appearance amount comparison means 34, the priority order determination means 38 displays the comparison result in the control information selection means 37. You will be notified via. After the priority order information 36b is updated, the priority order determination unit 38 notifies the control information selection unit 37 that the update has been completed.

  In this way, the priority order determination means 38 determines the priority order of the priority order information 36b based on the brain wave level (alpha wave appearance amount) at the time of recognition of the subject M. Even in the case where the amount is different for each target person, it is possible to rank the operation patterns so that the target person generates the most alpha wave.

  Here, with reference to FIG. 10, the update method of the priority information 36b in the priority determination means 38 is demonstrated. FIG. 10 shows a transition diagram showing a state in which the priority order in the priority order information 36b transitions, FIG. 10 (a) shows a state of the priority order before the update, and FIG. 10 (b) shows an alpha wave. FIG. 10C shows an example of updating the priority when the alpha wave is below the predetermined level.

  FIG. 10A shows the priority (weight W) of the operation pattern (operation pattern number N) at a certain point in time, the operation pattern number N of the currently operating operation pattern is “1”, and the weight W is “ 20 ”, the highest priority is assumed. At this stage, if the alpha wave is equal to or higher than the predetermined level, the weight W of the currently operating operation pattern (operation pattern number N = “1”) is set to “1” as shown in FIG. "to add. If the alpha wave is less than the predetermined level, “10” is subtracted from the weight W of the currently operating operation pattern (operation pattern number N = “1”) as shown in FIG.

Thus, in FIG. 10B, the current operation pattern (operation pattern number N = “1”) having the highest priority (weight W = “21”) is continued. In FIG. 10C, the operation is switched to the next operation pattern (operation pattern number N = “2”) having the highest priority (weight W = “19”).
Note that the addition amount and the subtraction amount of the weight W are examples, and are not limited to these values.

  By configuring the electroencephalogram control apparatus 30B as described above, the electroencephalogram control apparatus 30B continues the operation of the robot 10 when the alpha wave is detected from the electroencephalogram of the subject M, and the alpha wave is reduced. At another stage, another operation can be performed. At this time, the electroencephalogram control apparatus 30B switches the operation pattern to be performed by the robot 10 according to the priority order based on the appearance amount of the alpha wave appearing from the electroencephalogram of the subject M, and therefore the electroencephalogram control apparatus 30 (see FIG. 2). ), The subject M can be kept in a state where more alpha waves are emitted.

  As mentioned above, although the structure of the electroencephalogram control apparatus 30B was demonstrated based on one Embodiment, this invention is not limited to this. For example, the electroencephalogram control apparatus 30B may omit the priority order determination unit 38 from the configuration, and the control information selection unit 37 may switch the operation pattern in the order of the operation control information 36a. However, in this case, since priority is not used, the same effect as the electroencephalogram control apparatus 30 (see FIG. 2) is obtained.

  The electroencephalogram control apparatus 30B can be realized by causing a general computer to execute a program and operating an arithmetic device or a storage device in the computer. This program (an electroencephalogram control program) can be distributed via a communication line, or can be written and distributed on a recording medium such as a CD-ROM.

(Second embodiment: operation of an electroencephalogram control apparatus)
Next, the operation of the electroencephalogram control apparatus according to the second embodiment will be described with reference to FIG. 5 (refer to FIGS. 1 and 4 as appropriate). The basic operation of the electroencephalogram control apparatus according to the second embodiment is the same as the operation of the electroencephalogram control apparatus according to the first embodiment described in FIG. 3, and the detailed operation of step S9 in FIG. Only is different. Therefore, the description of the overall operation of the electroencephalogram control apparatus according to the second embodiment is omitted here, and the control signal determination operation in step S9 will be described. In the electroencephalogram control apparatus 30B, step S7 and step S8 in FIG.

FIG. 5 is a flowchart showing an operation of determining a control signal to be sent to the robot in the electroencephalogram control apparatus according to the second embodiment.
The electroencephalogram control apparatus 30 </ b> B determines whether the degree of comfort felt by the subject M is high based on the comparison result of the alpha wave appearance amount comparison unit 34 by the priority order determination unit 38 (step S <b> 10). Here, when the comfort level is large (Yes in step S10), the priority order determination means 38 sets the weight corresponding to the currently operating motion pattern in the priority order information 36b stored in the motion information storage means 36. “1” is added, and the priority information 36b is updated (step S11).

  On the other hand, when the comfort level is small (No in step S10), the priority determining unit 38 sets the weight corresponding to the currently operating motion pattern in the priority information 36b stored in the motion information storing unit 36. 10 "is subtracted to update the priority information 36b (step S12).

  Then, the electroencephalogram control apparatus 30B uses the control information selection unit 37 to search for an operation pattern having the maximum weight in the priority order information 36b (step S13). Furthermore, the electroencephalogram control apparatus 30B uses the control information selection means 37 to select an operation instruction command corresponding to the operation pattern that is the search result in step S13 from the operation control information 36a, and determines it as a control signal (step S14).

  With the above operation, the electroencephalogram control apparatus 30B can prioritize the operation pattern of the robot 10 according to the degree to which the subject M feels comfortable. Thereby, the electroencephalogram control apparatus 30B can cause the robot 10 to operate an operation pattern in which the subject M generates a lot of alpha waves. Moreover, since the priority order can be set low for the operation pattern in which the subject M does not emit much alpha waves, the subject M can always keep a state where many alpha waves are emitted.

  In the operation of the electroencephalogram control apparatus 30B, the control information selection unit 37 selects the operation pattern with the highest priority and operates the robot 10. However, the present invention is not limited to this. For example, the control information selection unit 37 does not select the operation pattern with the highest priority, but omits the operation pattern in which the alpha wave is less than a predetermined level from the selection target, and the operation in which the alpha wave is greater than the predetermined level. The robot 10 may be operated by sequentially selecting patterns. In this case, when the number of operation patterns in which alpha waves are output at a predetermined level or less falls below a certain number, the priority order of all operation patterns is initialized again and the operation is started from the beginning.

It is a block diagram which shows the structure of the electroencephalogram control system which concerns on this invention. It is a block diagram which shows the structure of the electroencephalogram control apparatus which concerns on 1st embodiment of this invention. It is a flowchart which shows operation | movement of the electroencephalogram control apparatus which concerns on 1st embodiment of this invention. It is a block diagram which shows the structure of the electroencephalogram control apparatus which concerns on 2nd embodiment of this invention. It is a flowchart which shows the operation | movement which determines the control signal sent out to a robot in the electroencephalogram control apparatus which concerns on 2nd embodiment of this invention. It is a figure which shows an example of the operation pattern which the robot stylized. It is the conceptual diagram which showed the concept which converts the potential difference of an electroencephalogram into a frequency by fast Fourier transform (FFT), Comprising: (a) shows the time series data of an electroencephalogram, (b) shows the spectrum for every frequency of an electroencephalogram. It is a figure which shows an example of operation control information. It is a figure which shows an example of priority information. FIG. 5 is a transition diagram showing a state in which the priority order determination unit updates the priority order, where (a) shows the state of the priorities before the update, and (b) shows the priority order when the alpha wave is above a predetermined level. An update example, (c) shows an update example of priority when the alpha wave is below a predetermined level. It is a relationship figure which shows the relationship between an electroencephalogram and consciousness.

Explanation of symbols

1 EEG control system 10 Robot (moving object)
DESCRIPTION OF SYMBOLS 20 EEG detection apparatus 20a Sensor 20b EEG measurement apparatus 30, 30B EEG control apparatus 31 EEG acquisition means 32 EEG analysis means 33 Comfortable EEG level storage means 34 Alpha wave appearance amount comparison means 35, 35B Control signal transmission means 36 Operation information storage means ( Control information storage means, priority order storage means)
37 Control information selection means 38 Priority order determination means

Claims (6)

An electroencephalogram control apparatus that controls the electroencephalogram of the target person by recognizing an operating object that operates by switching a plurality of operation patterns for a target person whose electroencephalogram is detected by an electroencephalogram detection apparatus,
An electroencephalogram acquisition means for acquiring the electroencephalogram of the subject when recognizing the action of the moving object from the electroencephalogram detection device;
An electroencephalogram analysis means for analyzing the electroencephalogram acquired by the electroencephalogram acquisition means and measuring the appearance amount of an alpha wave;
An alpha wave appearance amount comparison means for comparing the appearance amount of the alpha wave measured by the electroencephalogram analysis means with a preset threshold;
When the alpha wave appearance amount is smaller than the threshold in the comparison result of the alpha wave appearance amount comparison means, a control signal sending means for sending a control signal instructing switching of the motion pattern to the moving object. When,
An electroencephalogram control device comprising: An electroencephalogram control apparatus that controls the electroencephalogram of the target person by recognizing an operating object that operates by switching a plurality of operation patterns for a target person whose electroencephalogram is detected by an electroencephalogram detection apparatus,
Control information storage means for storing control information for specifying the operation of the operation pattern;
An electroencephalogram acquisition means for acquiring the electroencephalogram of the subject when recognizing the action of the moving object from the electroencephalogram detection device;
An electroencephalogram analysis means for analyzing the electroencephalogram acquired by the electroencephalogram acquisition means and measuring the appearance amount of an alpha wave;
An alpha wave appearance amount comparison means for comparing the appearance amount of the alpha wave measured by the electroencephalogram analysis means with a preset threshold;
Based on the comparison result of the alpha wave appearance amount comparison means, control information selection means for selecting the control information to be operated next from the control information storage means,
Control signal sending means for sending the control information selected by the control information selecting means as a control signal for instructing the action pattern to the action object;
An electroencephalogram control device comprising: Priority order determining means for determining the priority order of the operation pattern based on the appearance amount of the alpha wave;
Priority order storage means for storing the priority order determined by the priority order determination means,
3. The control information selection unit selects control information of an operation pattern to be operated next from the control information storage unit based on the priority order stored in the priority order storage unit. The electroencephalogram control apparatus described in 1. Comfortable brain wave level storage means that stores in advance the appearance amount of alpha waves when the subject feels comfortable,
The said alpha wave appearance amount comparison means uses the appearance amount of the alpha wave memorize | stored in the said comfortable brain wave level memory | storage means as said threshold value, The Claim 1 thru | or 3 characterized by the above-mentioned. EEG control device. An electroencephalogram control method for controlling an electroencephalogram of the subject by recognizing an operating object that operates by switching a plurality of operation patterns for a subject whose electroencephalogram is detected by an electroencephalogram detection device,
An electroencephalogram acquisition step of acquiring the electroencephalogram of the subject when recognizing the operation of the moving object from the electroencephalogram detection device;
An electroencephalogram analysis step of analyzing the electroencephalogram acquired in this electroencephalogram acquisition step and measuring the appearance amount of an alpha wave;
An alpha wave appearance amount comparison step for comparing the appearance amount of the alpha wave measured in this electroencephalogram analysis step with a preset threshold;
Based on the comparison result of this alpha wave appearance amount comparison step, a control signal sending step for sending a control signal instructing the continuation or switching of the action to the moving object;
A method of controlling an electroencephalogram, comprising: In order to control the brain wave of the subject by recognizing the motion object that operates by switching a plurality of motion patterns to the subject whose brain wave is detected by the brain wave detection device,
An electroencephalogram acquisition means for acquiring the electroencephalogram of the subject when recognizing the action of the moving object from the electroencephalogram detection device;
An electroencephalogram analysis means for analyzing the electroencephalogram acquired by the electroencephalogram acquisition means and measuring the appearance amount of an alpha wave,
Alpha wave appearance amount comparison means for comparing the appearance amount of the alpha wave measured by the electroencephalogram analysis means with a preset threshold value,
Control signal sending means for sending a control signal instructing continuation or switching of the action to the moving object based on the comparison result of the alpha wave appearance amount comparing means;
An electroencephalogram control program characterized by functioning as

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