| |
| 科研成果 |
|
|
 |
|
| 论文题目： |
Human Cooperative Wheelchair with Brain Machine Interaction Based on Shared Control Strategy |
| 第一作者： |
Li ZJ(李智军);Zhao, Suna;Su CY(苏春翌);Yang CG(杨辰光);Duan, Jiding;Zhao XG(赵新刚) |
| 参与作者： |
|
| 联系作者： |
|
| 发表刊物： |
IEEE/ASME Transactions on Mechatronics |
| 发表年度： |
2017 |
| 卷,期,页： |
22,1,185-195 |
| 论文出处： |
|
| 第一作者所在部门： |
|
| 论文编号： |
|
| 论文摘要： |
In this paper, a human-machine shared control strategy is proposed for the navigation control of a wheelchair, employing both brain-machine control mode and autonomous control mode. In the brain-machine control mode, contrary to the traditional four-direction control signals, a novel brainmachine interface using steady state visual evoked potentials (SSVEP) is presented, which utilizes two brain signals to produce a polar polynomial trajectory (PPT). The produced trajectory is continuous in curvature without violating dynamic constraints of the wheelchair. In the autonomous control mode, the synthesis of angle-based potential field (APF) and vision-based SLAM (simultaneous localization and mapping) technique is proposed to guide the robot navigating among the obstacles. Extensive experiments have been conducted to test the developed shared control wheelchair in several scenarios with a number of volunteers, and the results have verified the effectiveness of the proposed shared control scheme. |
| 论文全文： |
|
| 其他备注： |
|
| 附件下载： |
|
|
|
