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A VEP-based BCI for robotics applications
Aju-arvuti liides (AAL) loob võimaluse inimeste või seadmetega suhtlemiseks kasutades selleks ainuüksi ajutegevust. AALid on eestkätt mõeldud kasutamiseks meditsiinis, kuna võimaldavad puuetega isikutel seadmeid kontrollida, paremini suhelda või enda eest hoolitseda. Olemasolevate AAL süsteemide probleemideks on madal infoedastuskiirus ning keerulised seadmed, mille kasutamisega ei pruugi inimene üksi hakkama saada. Käesoleva töö eesmärgiks oli luua liikumispuudega inimeste abistamiseks lihtsasti kasutatav, soodne ja modulaarne EEG-põhine AAL prototüüp. Valmis visuaalselt esilekutsutud potentsiaalidel (Steady-State Visually Evoked Potential ehk SSVEP) põhinev nelja vilkuva stiimuliga AAL, mille abil juhiti robotmanipulaatoreid. AALi loomiseks kasutati OpenBCI EEG signaalihõiveseadet, andmetöötluseks tarkvaraplatvormi OpenVibe ning kahte robotmanipulaatorit, mida juhiti kasutades ROS (Robot Operating System) tarkvararaamistikku. Signaalitöötluses kasutati CSP (Common Spatial Pattern) filtrit, signaalide võimsusspektrit ning klassifitseerimiseks LDA (Linear Discriminant Analysis) ja SVM(Support VectorMachine) algortime. Töö tulemusena valmis täisfunktsionaalne AAL prototüüp, mida testiti 8 kasutaja peal ning saavutati keskmine infoedastuskiirus 42.5 bit/min ja klassifitseerimistäpsus 91 %. Loodud lahenduse funktsionaalsuse demonstreerimiseks valiti kasutusjuht, kus inimene saab roboti abil ühe eseme tuua enda juurde käsi-jalgu kasutamata.
- University of Tartu Estonia
Robot Operating System(ROS), robotics, OpenVibe, visuaalselt esilekutsutud potentsiaal, Elektroensefalograafia (EEG), brain-computer interface (BCI), magistritööd, robootika, OpenBCI, aju-arvuti liides (AAL), Electroencephalography (EEG), Steady-State Visually Evoked Potential (SSVEP)
Robot Operating System(ROS), robotics, OpenVibe, visuaalselt esilekutsutud potentsiaal, Elektroensefalograafia (EEG), brain-computer interface (BCI), magistritööd, robootika, OpenBCI, aju-arvuti liides (AAL), Electroencephalography (EEG), Steady-State Visually Evoked Potential (SSVEP)
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