Development of BCI System for Walking Substitution via Humanoid Robot

摘要

Number of spinal cord injury (SCI) patients who completely lose their movement functions are rapidly increasing and suffered from the neuropathic disease. Moreover, efficiency treatment is not achieving at present. The patients must do rehabilitation for a long time, it is caused by a man-power problem and spending much expense on health care. There are numerous methods for rehabilitation and support these patients are provided This report we developed the system for supporting these patients in daily life. The humanoid robot (RQ-HUNO) was selected to substitute function for the participant, it can walk. The system was used as a functional substitution based on the brain-computer interface (BCI) system. We proposed the method that participants can control devices by thought, the system is allowed a user to imagine the activity. The electroencephalogram (EEG) signals were detected, then analyzed and classified. A support vector machine (SVM) was used as the classification method. We did the online classification and control of the device. The system has been tasted with normal participants. We developed the BCI to be more natural in user thinking. The robot can provide walking motion for the participant.