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振动刺激增强了具有脑电图和眼动追踪混合控制的遥操作机器人系统的鲁棒性。

Vibration stimulation enhances robustness in teleoperation robot system with EEG and eye-tracking hybrid control.

作者信息

Zhang Wenbin, Wang Tianjie, Qin Chaolong, Xu Baoguo, Hu Hexuan, Wang Tong, Shen Ying

机构信息

The College of Computer Science and Software Engineering, Hohai University, Nanjing, China.

Department of Rehabilitation Medicine, The First Affiliated Hospital of Nanjing Medical University, Nanjing, China.

出版信息

Front Bioeng Biotechnol. 2025 May 8;13:1591316. doi: 10.3389/fbioe.2025.1591316. eCollection 2025.

DOI:10.3389/fbioe.2025.1591316
PMID:40458259
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC12127733/
Abstract

INTRODUCTION

The application of non-invasive brain-computer interfaces (BCIs) in robotic control is limited by insufficient signal quality and decoding capabilities. Enhancing the robustness of BCIs without increasing the cognitive load remains a major challenge in brain-control technology.

METHODS

This study presents a teleoperation robotic system based on hybrid control of electroencephalography (EEG) and eye movement signals, and utilizes vibration stimulation to assist motor imagery (MI) training and enhance control signals. A control experiment involving eight subjects was conducted to validate the enhancement effect of this tactile stimulation technique.

RESULTS

Experimental results showed that during the MI training phase, the addition of vibration stimulation improved the brain region activation response speed in the tactile group, enhanced the activation of the contralateral motor areas during imagery of non-dominant hand movements, and demonstrated better separability (p = 0.017). In the robotic motion control phase, eye movement-guided vibration stimulation effectively improved the accuracy of online decoding of MI and enhanced the robustness of the control system and success rate of the grasping task.

DISCUSSION

The vibration stimulation technique proposed in this study can effectively improve the training efficiency and online decoding rate of MI, helping users enhance their control efficiency while focusing on control tasks. This tactile enhancement technology has potential applications in robot-assisted elderly care, rehabilitation training, and other robotic control scenarios.

摘要

引言

非侵入式脑机接口（BCI）在机器人控制中的应用受到信号质量不足和解码能力的限制。在不增加认知负荷的情况下提高BCI的鲁棒性仍然是脑控技术中的一项重大挑战。

方法

本研究提出了一种基于脑电图（EEG）和眼动信号混合控制的遥操作机器人系统，并利用振动刺激来辅助运动想象（MI）训练并增强控制信号。进行了一项涉及八名受试者的对照实验，以验证这种触觉刺激技术的增强效果。

结果

实验结果表明，在MI训练阶段，添加振动刺激提高了触觉组大脑区域的激活反应速度，增强了非优势手运动想象期间对侧运动区域的激活，并表现出更好的可分离性（p = 0.017）。在机器人运动控制阶段，眼动引导的振动刺激有效地提高了MI在线解码的准确性，增强了控制系统的鲁棒性和抓握任务的成功率。

讨论

本研究中提出的振动刺激技术可以有效地提高MI的训练效率和在线解码率，帮助用户在专注于控制任务的同时提高其控制效率。这种触觉增强技术在机器人辅助老年护理、康复训练和其他机器人控制场景中具有潜在应用。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/133068e52265/fbioe-13-1591316-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/48b110bde84d/fbioe-13-1591316-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/b3843a8986d4/fbioe-13-1591316-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/8a1742360e9d/fbioe-13-1591316-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/6d00b1c3e84a/fbioe-13-1591316-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/cd043ee8e54c/fbioe-13-1591316-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/0c0637ffd2ba/fbioe-13-1591316-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/ad2c4d12ea45/fbioe-13-1591316-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/133068e52265/fbioe-13-1591316-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/48b110bde84d/fbioe-13-1591316-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/b3843a8986d4/fbioe-13-1591316-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/8a1742360e9d/fbioe-13-1591316-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/6d00b1c3e84a/fbioe-13-1591316-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/cd043ee8e54c/fbioe-13-1591316-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/0c0637ffd2ba/fbioe-13-1591316-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/ad2c4d12ea45/fbioe-13-1591316-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5c97/12127733/133068e52265/fbioe-13-1591316-g008.jpg

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