扩展BCI的机器人轮椅控制系统外文文献翻译、中英文翻译.docVIP

8th Annual International Conference on Biologically Inspired Cognitive Architectures, BICA 2017 The Control System Based on Extended BCI for a Robotic Wheelchair Timofei I. Voznenko_, Eugene V. Chepin?, and Gleb A. Urvanov National Research Nuclear University MEPhI (Moscow Engineering Physics Institute) Moscow, Russia Abstract In most cases, the movement of wheelchairs is controlled by disabled people using a joystick or by an accompanying person. Significantly disabled patients need alternative control methods without using the wheelchair joystick because it is undesirable or impossible for these patients. In this article, we present the implementation of a robotic wheelchair based on a powered wheelchair that is controlled not by the joystick but by the onboard computer that receives and processes data from the extended brain-computer interface (extended BCI). Under this term we understand the robotic complex control system with simultaneous independent alternative control channels. In this robotic wheelchair version the BCI works with voice and gesture control channels. Keywords: extended brain-computer interface, robotic wheelchair, control channel, robotics 1 Introduction Technical projects on the development of robotic wheelchairs have been carried out since the last century. Modern mobile robotic complexes (MR) which include robotic wheelchairs are complex heterogeneous hardware and software systems and they should provide a certain level of comfort and reliability of control answering the fields of their application. Under the term MR we understand the robotic system having an onboard powerful, versatile, and inexpensive miniature computer with a modern CPU providing the ability to connect the modern peripherals to the system without any restrictions, unlike the microcontroller capabilities. Because of this, it is possible to use the maximum possible set of software, more memory and parallel programming techniques to achieve the real-time mode (RTM). T