直接脑控多机器人协作任务研究

生物医学工程学杂志 2018年12月第35卷第6期 • 1 •

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直接脑控多机器人协作任务研究

张超，熊馨，任泓锦，伏云发

昆明理工大学 信息工程与自动化学院(昆明  650500 )

【摘要】   脑控是一种新的控制方法。传统脑控机器人主要是控制单个机器人完成特定任务，而脑控多机器

人协作(MRC )任务是一个有待研究的新课题。本文介绍了参加世界机器人大赛 “脑—机接口(BCI )脑控机器人

比赛”获得 “创新创意奖”的一个试验研究，试验设置了 2 个脑开关，采用基于稳态视觉诱发电位(SSVEP )的

BCI (SSVEP-BCI )控制人形机器人和机械臂完成协作任务。通过 10 名受试者的控制试验结果表明，通过适当设置

脑开关，采用性能优良的 SSVEP-BCI 能够实现 MRC 任务的有效完成。本研究可望为未来实用化的脑控 MRC 任

务系统的研究提供启发。

【关键词】  脑控；脑—机器人交互；多机器人协作；脑开关；稳态视觉诱发电位

Direct brain-controlled multi-robot cooperation task

ZHANG Chao, XIONG Xin, REN Hongjin, FU Yunfa

School of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, P.R.China

Corresponding author: FU Yunfa, Email: fyf@

【Abstract 】 Brain control is a new control method. The traditional brain-controlled robot is mainly used to control

a single robot to accomplish a specific task. However, the brain-controlled multi-robot cooperation (MRC) task is a new

topic to be studied. This paper presents an experimental research which received the "Innovation Creative Award" in the

brain-computer interface (BCI) brain-controlled robot contest at the World Robot Contest. Two effective brain switches

were set: total control brain switch and transfer switch, and BCI based steady-state visual evoked potentials (SSVEP) was

adopted to navigate a humanoid robot and a mechanical arm to complete the cooperation task. Control test of 10 subjects

showed that the excellent SSVEP-BCI can be used to achieve the MRC task by appropriately setting up the brain switches.

This study is expected to provide inspiration for the future practical brain-controlled MRC task system.

【Key words 】 brain control; brain-robot interaction; multi-robot cooperation; brain switch; stead