In this study, we propose a shared control method for teleoperated mobile robots using brain-machine interfaces (BMI). The control commands generated through BMI for robot operation face issues of low input frequency, discreteness, and uncertainty due to noise. To address these challenges, our method estimates the user's intended goal from their commands and uses this goal to generate auxiliary commands through the autonomous system that are both at a higher input frequency and more continuous. Furthermore, by defining the confidence level of the estimation, we adaptively calculated the weights for combining user and autonomous commands, thus achieving shared control.

翻译：本研究提出了一种用于脑机接口（BMI）遥操作移动机器人的共享控制方法。通过BMI生成的机器人操作控制命令存在输入频率低、离散性以及噪声导致的不确定性等问题。为解决这些挑战，本方法从用户命令中估计其预期目标，并利用该目标通过自主系统生成辅助命令，这些辅助命令不仅具有更高的输入频率，而且更加连续。此外，通过定义估计的置信度，我们自适应地计算了用户命令与自主命令的融合权重，从而实现了共享控制。