The Decomposition Method of Multi-channel Control System Based on Extended BCI for a Robotic Wheelchair

Abstract

There are a number of ways to control a mobile robotic device, in particular robotic wheelchair. One of this ways is an extended brain-computer interface (extended BCI) – robotic control system with simultaneous independent alternative control channels (BCI, voice and gesture control channels). Because of each channel has advantages and disadvantages the combination of some channels (multi-channel control) can be used. However, when commands are executed from several control channels, various conflicts may arise: for example, one command comes from one control channel, and some opposite commands (which cannot be executed simultaneously) that come from the other channels. To resolve such conflicts, two methods can be used: coordinated control and decomposition. Both of these methods are based on a quality evaluation of each control channel. To evaluate the quality of those control channels the different parameters can be used. This paper proposes a decomposition method of multi-channel control system based on proposed parameter. This technique allows to choose the best channel-command combinations based on type I and type II errors.