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首页> 外文期刊>IEEE Transactions on Cognitive and Developmental Systems >Motor-Imagery-Based Teleoperation of a Dual-Arm Robot Performing Manipulation Tasks
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Motor-Imagery-Based Teleoperation of a Dual-Arm Robot Performing Manipulation Tasks

机译：基于手臂图像的双手臂机器人执行操纵任务的遥操作

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摘要

This paper proposes a brain-computer interface (BCI)-based teleoperation strategy for a dual-arm robot carrying a common object by multifingered hands. The BCI is based on motor imagery of the human brain, which utilizes common spatial pattern method to analyze the filtered electroencephalograph signals. Human intentions can be recognized and classified into the corresponding reference commands in task space for the robot according to phenomena of event-related synchronization/desynchronization, such that the object manipulation tasks guided by human user's mind can be achieved. Subsequently, a concise dynamics consisting of the dynamics of the robotic arms and the geometrical constraints between the end-effectors and the object is formulated for the coordinated dual arm. To achieve optimization motion in the task space, a redundancy resolution at velocity level has been implemented through neural-dynamics optimization. Extensive experiments have been made by a number of subjects, and the results were provided to demonstrate the effectiveness of the proposed control strategy.
机译：本文提出了一种基于脑-计算机接口（BCI）的远程操作策略，该策略用于双臂多指携带普通物体的双臂机器人。 BCI基于人脑的运动图像，该图像利用常见的空间模式方法分析滤波后的脑电图信号。可以根据事件相关的同步/去同步现象，将人的意图识别并分类到机器人任务空间中的相应参考命令中，从而可以实现由用户的思想指导的对象操纵任务。随后，为协调双臂制定了简洁的动力学，包括机械臂的动力学以及末端执行器和对象之间的几何约束。为了在任务空间中实现优化运动，已经通过神经动力学优化实现了速度级别的冗余分辨率。许多对象已经进行了广泛的实验，并提供了结果来证明所提出的控制策略的有效性。

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