Research On Motion Control Of Multi-DOF Manipulator Based On Brain-Computer Interface Technology

Brain-computer interface is one passage established between human brain and computer or other electronic equipments for direct communication and control. This technology does not rely on normal peripheral nerves or muscle tissues, but can express ideas and control external equipments directly through brain. Brain-computer technology can provide paralyzed people with new methods to communicate with outside, it can enhance the special ability of normal people manipulating special equipments on special occasions and it is one cross technology that relates to many subjects such as neuroscience, signal detection, signal process and mode identification.The thesis designed one on-line BCI system to control external multi-freedom manipulators. This BCI system included five links of brain-power evoking, collection, processing, output control and external multi-freedom manipulators and realized the system function of controlling the movements of external multi-freedom manipulators through extracting brain-power visual evoked potentials. The research adopted the classical visual evoked potentials paradigm, designed the stimulation program and experimental scheme, processed the collected brain-power data containing evoking signal and analyzed and compared these three methods of identifying modes. Finally the paper built the brain-computer interface system based on visual evoked potentials on the LabVIEW platform using the analytical method of combining wavelet analysis and statistics. Through plenty of experiments and debugging, the system realized few times of extraction and accomplished the real-time controlling of the movements of the external manipulator in eight directions.The innovation of the paper lies below:(1) Designed the visual stimulator on the LabVIEW platform, studied the ways of visual stimulating and made the stimulating mode produce visual evoked potentials more effectively.(2) Built the brain-computer interface experiment platform based on visual evoked potentials, realized the collecting and processing of the visual evoked potential signals on the LabVIEW platform. Explored how to extract weak visual evoked potential signals quickly and precisely in strong noise background.(3) Built an real-time movement control system of multi-freedom manipulator based on event-related potential P300.