ArticleComputational and structural biotechnology journal2023
Continuous shared control of a mobile robot with brain-computer interface and autonomous navigation for daily assistance.
Article in Computational and structural biotechnology journal, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- Article
- Overcoming the cognition-reality gap in robot-to-human handovers with anisotropic variable force guidance.Computational and structural biotechnology journal · 2024Article
- Development of a humanoid robot control system based on AR-BCI and SLAM navigation.Cognitive neurodynamics · 2024Article
- Intelligent Control System for Brain-Controlled Mobile Robot Using Self-Learning Neuro-Fuzzy Approach.Sensors (Basel, Switzerland) · 2024Article
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Authors and funding
6 authors.
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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.
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