Human Manipulator Shared Online Control Using Electrooculography

摘要

This paper presents a shared online control method of 7 Degrees-of-Freedom (DOF) articulated manipulator based on electrooculography (EOG). Firstly, based on the previous signal offline analysis research in "Linear Decoding of Eye Gazing Target Continuous Motion Information via Electrooculography", the signal online processing methods are proposed here including online calibration, subsection processing and incremental output. Then, the interactive interface is designed and the control strategy is made to realize the manipulator is controlled by smooth pursuit eye movement and blink. Finally, the experiments of the manipulator end motion path control are carried out to verify the control scheme. The simulation and experimental results showed a good fit with the ideal path and demonstrated the effectiveness of control human manipulator. The new methods are expected to be widely used in control human manipulator with EOG to help disabled patients in practical clinical application to improve the quality of life of handicapped people.