Brain-controlled mechanical arm sharing control system based on augmented reality and method thereof

Abstract

The invention relates to a brain-controlled mechanical arm sharing control system and method based on augmented reality. The system comprises a computer vision device, a steady-state visual evoked potential brain-computer interface device, a sharing control device, an augmented reality device and a mechanical arm, wherein the computer vision device is used for identifying the color and position information of an object in a working space; the augmented reality device is used for generating a visual stimulation signal and acting on a user; the steady-state visual evoked potential brain-computerinterface device obtains an electroencephalogram signal of the user and converts the electroencephalogram signal into a visual human brain control command; the sharing control device adopts a sharingcontrol strategy to control the mechanical arm; and the mechanical arm grabs the target object under the control of the sharing control device. The control function is achieved by combining the humanbrain control command with the mechanical arm autonomous control based on the computer vision, more natural human-computer interaction is achieved, the psychological burden of a user is reduced, theapplicability of the mechanical arm in a complex environment is enhanced, and therefore the practicability and reliability of the whole system are improved.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a brain-controlled manipulator sharing control system and method based on augmented reality. Background technique [0002] Both the disabled and the elderly face many inconveniences in their daily lives. Especially for people with severe movement disorders, it is an urgent need to be able to live independently and reintegrate into society. [0003] In recent years, robot-assisted devices have been increasingly used to improve the independence and quality of life of the disabled or the elderly, and can realize functions such as rehabilitation training, moving assistance, feeding care, cleaning care, and assisted standing. However, the existing robot auxiliary devices usually use traditional man-machine interfaces, such as mouse, keyboard, voice, etc., which require the user to have residual motor ability. People with severe movement disorders do not have the motor control ability...

AI Technical Summary

Problems solved by technology

Most of the existing researches use the brain-computer interface to directly control the control strategy of the manipulator, which only verifies the feasibility of the brain-controlled manipulator.

The direct control strategy requires the user to send commands frequently, which can easily cause the user's physical and mental fatigue.

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