基于稳态视觉诱发电位的脑控轮椅室内模拟训练系统

王金海; 王康宁; 陈小刚; 王慧泉; 徐圣普; 刘明

doi:10.7507/1001-5515.201906025

基于稳态视觉诱发电位的脑控轮椅室内模拟训练系统

doi: 10.7507/1001-5515.201906025

王金海¹,
王康宁^{1, 2},
陈小刚²,
王慧泉¹,
徐圣普²,
刘明^2, ,

详细信息

通讯作者:
刘明，Email：liuming_tju@163.com

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出版历程
- 收稿日期: 2019-06-11
- 修回日期: 2020-01-19
- 发布日期: 2020-03-17

Indoor simulation training system for brain-controlled wheelchair based on steady-state visual evoked potentials

More Information

Corresponding author: LIU Ming, Email: liuming_tju@163.com

摘要

摘要: 脑控轮椅（BCW）是脑-机接口技术的重要应用之一，目前研究表明，模拟控制训练对 BCW 应用具有重要意义。为了在保证安全的情况下提高使用者的 BCW 控制能力，达到促进 BCW 应用的目的，本文基于稳态视觉诱发电位搭建了 BCW 室内模拟训练系统。该系统包括视觉刺激范式设计与实现、脑电信号采集与处理、室内模拟环境建模、路径规划和模拟轮椅控制等。为测试该系统性能，本研究设计了三种室内路径控制任务，共招募 10 名受试者进行为期 5 d 的训练试验。比较训练试验前后结果发现，受试者完成任务一、任务二和任务三时，所用平均命令个数分别下降 29.5%、21.4%、25.4%（P < 0.001），整体所用命令个数平均下降 25.4%（ P < 0.001）。试验结果表明，通过本文搭建的室内模拟训练系统对受试者进行训练，能够在一定程度上提高受试者对 BCW 控制的熟练度和操控效率，证明了本文系统的实用性，为促进 BCW 室内应用提供了一个有效的辅助方法。
- 脑控轮椅 /
- 模拟训练 /
- 脑-机接口 /
- 稳态视觉诱发电位
Abstract: Brain-controlled wheelchair (BCW) is one of the important applications of brain-computer interface (BCI) technology. The present research shows that simulation control training is of great significance for the application of BCW. In order to improve the BCW control ability of users and promote the application of BCW under the condition of safety, this paper builds an indoor simulation training system based on the steady-state visual evoked potentials for BCW. The system includes visual stimulus paradigm design and implementation, electroencephalogram acquisition and processing, indoor simulation environment modeling, path planning, and simulation wheelchair control, etc. To test the performance of the system, a training experiment involving three kinds of indoor path-control tasks is designed and 10 subjects were recruited for the 5-day training experiment. By comparing the results before and after the training experiment, it was found that the average number of commands in Task 1, Task 2, and Task 3 decreased by 29.5%, 21.4%, and 25.4%, respectively (P < 0.001). And the average number of commands used by the subjects to complete all tasks decreased by 25.4% ( P < 0.001). The experimental results show that the training of subjects through the indoor simulation training system built in this paper can improve their proficiency and efficiency of BCW control to a certain extent, which verifies the practicability of the system and provides an effective assistant method to promote the indoor application of BCW.
- brain-controlled wheelchair /
- simulation training /
- brain-computer interface /
- steady-state visual evoked potentials

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图 1 模拟训练系统框图

Figure 1. The block diagram of the simulation training system

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图 2 家居环境及模拟环境示意图

Figure 2. The schematic diagrams of home environment and simulation environment

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图 3 A*算法流程图

Figure 3. Flow chart of A* algorithm

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图 4 SSVEP 刺激时序图

Figure 4. Sequence diagram of SSVEP stimulation

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图 5 试验任务路线和试验场景

Figure 5. Schematic diagram of the experimental task path and experimental scenario

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图 6 单次训练组块流程示意图

Figure 6. Schematic diagram of a single training block

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图 7 各任务平均命令个数分布

Figure 7. Distribution of the average number of commands for each task

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表 1 模拟训练试验结果

Table 1. The results of the simulation training experiment

受试者	任务	平均用时/s（ $\overline {{x}} \;{\text{±}}\; {{s}}$ ）	平均命令/个（ $\overline {{x}} \;{\text{±}}\; {{s}}$ ）	碰撞/次	误启动/次	无效命令/个	平均时间优化率
S1	一	376.00 ± 39.76	94.00 ± 9.94	0	0	19	1.21
	二	358.68 ± 11.48	89.67 ± 2.87	0	0	5	1.08
	三	342.24 ± 28.36	85.56 ± 7.09	0	2	7	1.14
S2	一	441.76 ± 81.64	110.44 ± 20.41	2	0	13	1.42
	二	420.00 ± 57.36	105.00 ± 14.34	3	0	23	1.27
	三	370.68 ± 49.12	92.67 ± 12.28	1	0	7	1.24
S3	一	370.24 ± 25.92	92.56 ± 6.48	1	1	16	1.19
	二	378.24 ± 26.92	94.56 ± 6.73	0	0	15	1.14
	三	351.12 ± 26.96	87.78 ± 6.74	0	0	14	1.17
S4	一	380.44 ± 22.40	95.11 ± 5.60	0	0	15	1.22
	二	388.44 ± 33.44	97.11 ± 8.36	1	0	26	1.17
	三	357.32 ± 25.12	89.33 ± 6.28	1	0	32	1.19
S5	一	376.00 ± 48.48	94.00 ± 12.12	3	1	12	1.21
	二	389.32 ± 27.72	97.33 ± 6.93	3	1	8	1.17
	三	340.44 ± 20.04	85.11 ± 5.01	2	1	10	1.13
S6	一	400.44 ± 42.92	100.11 ± 10.73	2	1	8	1.28
	二	404.44 ± 18.36	101.11 ± 4.59	1	0	25	1.22
	三	368.00 ± 43.08	92.00 ± 10.77	3	0	13	1.23
S7	一	406.24 ± 47.28	101.56 ± 11.82	2	0	20	1.30
	二	417.32 ± 45.48	104.33 ± 11.37	5	1	30	1.26
	三	383.56 ± 47.88	95.89 ± 11.97	3	0	16	1.28
S8	一	408.88 ± 69.44	102.22 ± 17.36	2	0	14	1.31
	二	423.12 ± 39.32	105.78 ± 9.83	3	0	31	1.27
	三	401.32 ± 53.12	100.33 ± 13.28	3	0	25	1.34
S9	一	415.56 ± 78.76	103.89 ± 19.69	5	0	10	1.33
	二	408.44 ± 50.04	102.11 ± 12.51	2	0	15	1.23
	三	385.32 ± 48.92	96.33 ± 12.23	0	0	6	1.28
S10	一	400.44 ± 60.72	100.11 ± 15.18	4	0	19	1.28
	二	405.32 ± 65.88	101.33 ± 16.47	3	0	18	1.22
	三	373.76 ± 56.60	93.44 ± 14.15	1	0	14	1.25

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表 2 E1、E2 和 E3 的平均命令个数表（ ${\overline {{x}} \;{b\text{±}}\; {{s}}}$ ）

Table 2. The average number of commands for E1，E2，and E3（ ${\overline {{x}} \;{b\text{±}}\; {{s}}}$ ）

试验序号	平均命令数/个
试验序号	S1	S2	S3	S4	S5	S6	S7	S8	S9	S10
E1	93.44 ± 7.28	120.22 ± 16.84	98.67 ± 4.92	98.78 ± 8.00	99.78 ± 10.40	104.89 ± 9.60	113.44 ± 10.14	116.44 ± 11.44	115.78 ± 10.30	117.33 ± 6.28
E2	93.78 ± 4.58	97.33 ± 9.18	90.67 ± 5.10	93.56 ± 5.88	89.11 ± 6.64	97.00 ± 8.05	96.22 ± 5.21	100.56 ± 8.14	102.78 ± 6.82	91.89 ± 6.77
E3	82.00 ± 4.72	90.56 ± 6.91	85.56 ± 3.40	89.22 ± 5.24	87.56 ± 7.63	91.33 ± 6.87	92.11 ± 5.99	91.33 ± 5.61	83.78 ± 4.41	85.67 ± 4.87

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表 3 模拟训练试验问卷综合结果

Table 3. The comprehensive results of the questionnaire in the simulation training experiment

评价指标	E1	E2	E3
脑力需求	较低	较低	低
身体负担	较低	低	低
时间需求	中等	中等	较低
挫败感	较低	低	低

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