A High-DOF BCI Control Strategy Mapping Discrete Commands to Continuous Motion for a Drone (I)

Abstract

Because of the non-stationary nature of electroencephalogram (EEG) signals, traditional non-invasive brain-computer interfaces (BCIs) usually only produce discrete commands, limiting their ability to control external devices continuously. This study proposes a novel BCI control strategy mapping multiple discrete commands to continuous motion, enabling real-time manipulation of a drone in four degrees of freedom (DOF). Our strategy used the fast steady state visual evoked potential (SSVEP) encoding and decoding method to convert user intentions into the drone’s flight status in near real-time. Simultaneously, the drone’s live video was embedded into the SSVEP stimuli, providing users with a first-person perspective control experience. In drone control experiments, participants successfully maneuvered the drone through complex path-following tasks in simulated and physical scenarios. The mean flight trajectory bias ratio was measured as 0.81, with a mean flight smoothness of -3.31 (measured by spectral arc length) and mean Fitts’s throughput of 9.18 bits/min. Notably, the brain-to-hand ratio (BHR) for all metrics approached 1, indicating that our non-invasive control system achieved comparable performance to manual control systems. These results suggest the effectiveness of our proposed BCI control strategy that maps discrete commands to continuous motion and extends the capabilities of non-invasive BCIs in continuous control scenarios.