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Mind Control of a Robotic Arm With Visual Fusion Technology

机译：视觉融合技术控制机械臂

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摘要

This paper reports the development of an intelligent shared control system for a robotic manipulator that is commanded by the user's mind. The target objects are detected by a vision system and then displayed to the user in a video that shows them fused with flicking diamonds that are designed to excite electroencephalograph (EEG) signals at different frequency bands. Through the analysis of the invoked EEG signals, a brain–computer interface is developed to infer the exact object that is required by the user. These results are then transferred to the shared control system, which is enabled by visual servoing techniques to achieve accurate object manipulation. The task motion and self-motion (CTS) methods are coordinated to enhance the intelligence of the shared control system by equipping the robot with an autonomous obstacle avoidance function. Extensive experimental studies are performed to verify that the adaptive object tracking algorithm, the CTS method, and the least-squares method are helpful in improving the performance of the intelligent robotic system.
机译：本文报告了由用户的思想所控制的机器人机械手智能共享控制系统的开发。目标对象由视觉系统检测，然后在视频中显示给用户，该视频显示目标与闪烁的钻石融合在一起，这些钻石旨在激发不同频段的脑电图（EEG）信号。通过对调用的EEG信号的分析，开发了脑机接口来推断用户所需的确切对象。然后将这些结果传输到共享控制系统，该共享控制系统通过视觉伺服技术启用以实现精确的对象操作。通过为机器人配备自动避障功能，可以协调任务运动和自运动（CTS）方法以增强共享控制系统的智能。进行了大量的实验研究，以验证自适应对象跟踪算法，CTS方法和最小二乘法有助于改善智能机器人系统的性能。

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  • 来源
    《Industrial Informatics, IEEE Transactions on》 |2018年第9期|3822-3830|共9页
  • 作者

    Chenguang Yang; Huaiwei Wu; Zhijun Li; Wei He; Ning Wang; Chun-Yi Su;

  • 作者单位

    Key Laboratory of Autonomous Systems and Networked Control, School of Automation Science and Engineering, South China University of Technology, Guangzhou, China;

    Key Laboratory of Autonomous Systems and Networked Control, School of Automation Science and Engineering, South China University of Technology, Guangzhou, China;

    Key Laboratory of Autonomous Systems and Networked Control, School of Automation Science and Engineering, South China University of Technology, Guangzhou, China;

    School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China;

    Plymouth University, Plymouth, U.K.;

    School of Automation, Guangdong University of Technology, Guangzhou, China;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Electroencephalography; Diamond; Robot control; Robot sensing systems; Manipulators;

    机译：脑电图;金刚石;机器人控制;机器人感应系统;机械手;

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