The Brain-Inspired Cooperative Shared Control Framework for Brain-Machine Interface

TL;DR

A cooperative shared control framework based on brain-inspired intelligence, where control signals are decoded from neural activity, and the robot handles the fine control, is proposed, allowing for a combination of flexible and adaptive interaction control between the robot and the brain.

Abstract

In brain-machine interface (BMI) applications, a key challenge is the low information content and high noise level in neural signals, severely affecting stable robotic control. To address this challenge, we proposes a cooperative shared control framework based on brain-inspired intelligence, where control signals are decoded from neural activity, and the robot handles the fine control. This allows for a combination of flexible and adaptive interaction control between the robot and the brain, making intricate human-robot collaboration feasible. The proposed framework utilizes spiking neural networks (SNNs) for controlling robotic arm and wheel, including speed and steering. While full integration of the system remains a future goal, individual modules for robotic arm control, object tracking, and map generation have been successfully implemented. The framework is expected to significantly enhance the performance of BMI. In practical settings, the BMI with cooperative shared control, utilizing a brain-inspired algorithm, will greatly enhance the potential for clinical applications.

Figures (16)

• Figure 1: Brain-machine interface cooperative shared control system
• Figure 2: The computer vision system framework.
• Figure 3: An overview of the REACH modeldewolf2016spiking, shown controlling a three-link arm. Numbers identify major communication pathways. Dashed lines indicate closed-loop feedback signals generated from the senses. The image modified from Travis et al dewolf2016spiking.
• Figure 4: The robotic arm control flow
• Figure 5: The wheeled robots control flow.