A Novel Grasping Robot Control Method Using Motion Execution BCI Combining Knowledge Reasoning

Recently, with the growing number of disabled people, brain-controlled technology offers a novel way to help patients restore their daily abilities. However, the conventional brain-controlled system based on the motion related task lacks intelligence in real-world environments. To address above problem, this study proposed a share controlled system combining a precise hand movement (PHM)-based brain computer interface (BCI) system and knowledge-driven reasoning method. Six types of precise hand movements were selected to design novel motion execution paradigm for BCI system. A feature intermediate fusion convolutional neural network was employed to accurately decode electroencephalogram. Furthermore, a shared control grasping technology based on knowledge based reasoning combined PHM-based BCI system was designed for grasping robot, which enhancing the system's intelligence and versatility in selecting objects. To verify the improvement of proposed method, experiments were conducted with 15 ࣥhealthy subjects and 2 patients. The proposed method achieved an average accuracy of 82.80±6.08%, with the highest accuracy reaching 94.27%. All the experimental results demonstrate the effectiveness of the proposed shared control method.