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Nonholonomic mobile system control by combining EEG-based BCI with ANFIS

Issue title: Frontiers in Biomedical Engineering and Biotechnology – Proceedings of the 4th International Conference on Biomedical Engineering and Biotechnology, 18–21 August 2015, Shanghai, China

Guest editors: Feng Liu, Dong-Hoon Lee, Ricardo Lagoa and Sandeep Kumar

Article type: Research Article

Authors: Yu, Weiweia; * | Feng, Huashana | Feng, Yangyanga | Madani, Kuroshb | Sabourin, Christopheb

Affiliations: [a] School of Mechatronic Engineering, Northwestern Polytechnical University, Youyi Xilu 127hao, Xi’an, 710072, China | [b] Images, Signals and Intelligence Systems Laboratory (LISSI/EA 3956), UPEC University, Senart-Fontainebleau Institute of Technology, Bât.A, F-77127 Lieusaint, France

Correspondence: [*] Address for correspondence: Weiwei Yu, School of Mechatronic Engineering, Northwestern Polytechnical University, Youyi Xilu 127hao, Xi’an, 710072, China, Tel.: +86 18709243042; Fax: +86 29 88494271; E-mail: yuweiwei@nwpu.edu.cn.

Keywords: BCI, motor imagery EEG, ANFIS, nonholonomic mobile system

DOI: 10.3233/BME-151409

Journal: Bio-Medical Materials and Engineering, vol. 26, no. s1, pp. S1125-S1133, 2015

Published: 2015
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Motor imagery EEG-based BCI has advantages in the assistance of human control of peripheral devices, such as the mobile robot or wheelchair, because the subject is not exposed to any stimulation and suffers no risk of fatigue. However, the intensive training necessary to recognize the numerous classes of data makes it hard to control these nonholonomic mobile systems accurately and effectively. This paper proposes a new approach which combines motor imagery EEG with the Adaptive Neural Fuzzy Inference System. This approach fuses the intelligence of humans based on motor imagery EEG with the precise capabilities of a mobile system based on ANFIS. This approach realizes a multi-level control, which makes the nonholonomic mobile system highly controllably without stopping or relying on sensor information. Also, because the ANFIS controller can be trained while performing the control task, control accuracy and efficiency is increased for the user. Experimental results of the nonholonomic mobile robot verify the effectiveness of this approach.

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