脳波信号を用いたマニピュレータの感性操作

概要

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Brain wave is a representative sensory signal of a human body and shows different frequencies depending on the emotion. In this paper, a robot manipulator operated by the brain wave is discussed and its motion is evaluated by the subjects through questionnaires. When we face a comfortable scene or feel relaxation, our brain wave generally presents an α-wave signal with the frequency band of approximately 8 to 1 3Hz. In this care, the α wave particularly shows a 1/f fluctuation. i.e., the corresponding power is inversely proportional to the frequency. This fluctuation is said to be comfortable for human. With this background into consideration, the 1/f α-wave signal obtained under a comfortable music was input to the robot manipulator by controlling its angle. To evaluate this motion, questionnaires were implemented for twenty subjects by watching three kinds of orbits of the manipulator motion : a 1/f motion, a 1/f^2 motion, and a white noise-like motion. It was suggested from the test that 90% of subjects felt comfortable in the 1/f manipulator motion.
公益社団法人精密工学会の論文
2003-06-05