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In this paper, we have developed an asynchronous brain-computer interface (BCI)-based lower limb exoskeleton control system based on motor imagery (MI). By decoding electroencephalography (EEG) signals in real-time, users were able to walk forward, sit down, and stand up while wearing the exoskeleton. EEG feature vectors associated with the motor imagery were extracted from the filtered EEG signals...
Robust gait phase prediction is crucial to exoskeleton robots, as it detects the intention of users and improves the lag of motion signals. Therefore, this paper predicts gait phases from two perspectives, including one perspective of spatial features and the other of spatio-temporal features. We employ two machine learning models from the two perspectives to predict. One is support vector machine...
In this paper, we present a control method that combines Brain-computer interface based on Steady-State Visual Evoked Potentials and traditional force/angle sensors to control a lower-limb rehabilitation exoskeleton. Through visual stimulation experiments, the subjects will produce raw electroencephalogram signals including commands information. After acquiring such information, the control system...
In this paper, we propose a novel motion detection method for moving human detection based only on range sensor. Different from the state-of-art frameworks on human detection field, our innovation is taking advantages of range data in motion detection and introducing a effective motion capture approach. In preliminary segmentation term the concept of Positive Motion is presented which can obtain points...
This paper presents a design of a high-level monitoring system for formation controls of swarms of mobile robots. With necessary information of each robot provided in the centralized high-level planner, the proposed monitoring system can evaluate the robots' working performance and check which robot malfunctions. The malfunction detector, developed with back-propagation neural networks technology,...
This paper presents a synchronization control strategy for formation control of swarm of mobile robots. The formation control problem is successfully posed as a synchronization control problem, and the concept of synchronization error is created for measuring the formation control effect. A decentralized trajectory tracking controller is developed with feedback of both position and synchronization...
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