ABSTRACT
Although the electroencephalography (EEG) based brain-computer interface (BCI) has been successfully developed for rehabilitation and assistance, it is still challenging to achieve continuous control of a brain-actuated mobile robot system. In this study, we propose a continuous shared control strategy combining continuous BCI and autonomous navigation for a mobile robot system. The weight of shared control is designed to dynamically adjust the fusion of continuous BCI control and autonomous navigation. During this process, the system uses the visual-based simultaneous localization and mapping (SLAM) method to construct environmental maps. After obtaining the global optimal path, the system utilizes the brain-based shared control dynamic window approach (BSC-DWA) to evaluate safe and reachable trajectories while considering shared control velocity. Eight subjects participated in two-stage training, and six of these eight subjects participated in online shared control experiments. The training results demonstrated that naïve subjects could achieve continuous control performance with an average percent valid correct rate of approximately 97 % and an average total correct rate of over 80 %. The results of online shared control experiments showed that all of the subjects could complete navigation tasks in an unknown corridor with continuous shared control. Therefore, our experiments verified the feasibility and effectiveness of the proposed system combining continuous BCI, shared control, autonomous navigation, and visual SLAM. The proposed continuous shared control framework shows great promise in BCI-driven tasks, especially navigation tasks for brain-driven assistive mobile robots and wheelchairs in daily applications.
ABSTRACT
Studying the decoding process of complex grasping movement is of great significance to the field of motor rehabilitation. This study aims to decode five natural reach-and-grasp types using sources of movement-related cortical potential (MRCP) and investigate their difference in cortical signal characteristics and network structures. Electroencephalogram signals were gathered from 40 channels of eight healthy subjects. In an audio cue-based experiment, subjects were instructed to keep no-movement condition or perform five natural reach-and-grasp movements: palmar, pinch, push, twist and plug. We projected MRCP into source space and used average source amplitudes in 24 regions of interest as classification features. Besides, functional connectivity was calculated using phase locking value. Six-class classification results showed that a similar grand average peak performance of 49.35% can be achieved using source features, with only two-thirds of the number of channel features. Besides, source imaging maps and brain networks presented different patterns between each condition. Grasping pattern analysis indicated that the modules in the execution stage focus more on internal communication than in the planning stage. The former stage was related to the parietal lobe, whereas the latter was associated with the frontal lobe. This study demonstrates the superiority and effectiveness of source imaging technology and reveals the spread mechanism and network structure of five natural reach-and-grasp movements. We believe that our work will contribute to the understanding of the generation mechanism of grasping movement and promote a natural and intuitive control of brain-computer interface.