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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

王金海, 王康宁, 陈小刚, 王慧泉, 徐圣普, 刘明. 基于稳态视觉诱发电位的脑控轮椅室内模拟训练系统[J]. 仁和测试, 2020, 37(3): 502-511. doi: 10.7507/1001-5515.201906025
引用本文: 王金海, 王康宁, 陈小刚, 王慧泉, 徐圣普, 刘明. 基于稳态视觉诱发电位的脑控轮椅室内模拟训练系统[J]. 仁和测试, 2020, 37(3): 502-511. doi: 10.7507/1001-5515.201906025
Jinhai WANG, Kangning WANG, Xiaogang CHEN, Huiquan WANG, Shengpu XU, Ming LIU. Indoor simulation training system for brain-controlled wheelchair based on steady-state visual evoked potentials[J]. Rhhz Test, 2020, 37(3): 502-511. doi: 10.7507/1001-5515.201906025
Citation: Jinhai WANG, Kangning WANG, Xiaogang CHEN, Huiquan WANG, Shengpu XU, Ming LIU. Indoor simulation training system for brain-controlled wheelchair based on steady-state visual evoked potentials[J]. Rhhz Test, 2020, 37(3): 502-511. 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
基金项目: 国家自然科学基金(61603416,61701342);中国医学科学院医学与健康科技创新工程(CIFMS 2016-I2M-3-023);天津市科技计划项目(18ZXRHSY00200)
详细信息
    通讯作者:

    刘明,Email:liuming_tju@163.com

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

Funds: National Natural Science Foundation of China; Chinese Academy of Medical Sciences and Peking Union Medical College; Tianjin Science and Technology Commission
More Information
  • 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。
  • 图  1  模拟训练系统框图

    Figure  1.  The block diagram of the simulation training system

    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

    图  3  A*算法流程图

    Figure  3.  Flow chart of A* algorithm

    图  4  SSVEP 刺激时序图

    Figure  4.  Sequence diagram of SSVEP stimulation

    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

    图  6  单次训练组块流程示意图

    Figure  6.  Schematic diagram of a single training block

    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

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

    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
    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
    下载: 导出CSV

    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
    身体负担 较低
    时间需求 中等 中等 较低
    挫败感 较低
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-06-11
  • 修回日期:  2020-01-19
  • 刊出日期:  2020-03-17

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