Research On The Motion Control Method Of Brain-Actuated Robot System

Brain-actuated robotics is a technology based on BCI and robotics, by which robot could be controlled by human mind. And brain-actuated robotics provides broad space for BCI applications. However, the accuracy and transfer rate of BCI system are very low. And there are severe problem of poor interactive performance in the system. These have become the bottleneck for the application of the brain-actuated robotics systems.Stable control performance could be realized between operator and robot through teleoperation. Applying control methods on BCI system provides us a new way of thinking in brain-actuated robotics system. In this paper, shared control method based on fuzzy logic is designed based on the knowledge of shared control method and fuzzy logic. And real-time control performance with stability of brain-actuated robotics system is finally achieved.The main work this paper delivers are about the research of the control algorithm and construction of the teleoperation platform. Firstly, the background, condition and the future prospect of BCI and brain-actuated robotics is introduced. Then, the background knowledge of fuzzy logic and process of designing a typical fuzzy controller are summarized. With the support of these theories and methods, control method for brain-actuated robot was designed. This method can be divided into two parts which are shared control method based on fuzzy logic and robot motion control method based on fuzzy logic. Shared control method give consideration to both operator's intention and robot's autonomous control. It not only ensure the robot carry out the operator's intention correctly, but also quickly response to the external environment. At the same time, fuzzy logic give the control method great flexibility and light computational load. The brain-actuated robotics system was composed by teleoperation platform and BCI system. "Client/Server" structure was used in teleoperation platform which was built by Visual C++. BCI system is based on the open source BCI2000 system and NeuroScan EEG acquisition equipment. Necessary improvements and expansion were adopted using C++ builder tool. Finally, effectiveness and stability of the system were proved through simulation and experiments.