A robot natural control method based on an electromyographic signal and an error electroencephalographic potential. The method mainly comprises the following steps: an experimenter executing four natural actions according to a prompt; collecting an electromyographic signal and IMU data, performing pre-processing, feature extraction and classifier classification on the data, and controlling, according to a classification result, a UR5 mechanical arm such that same executes a corresponding action on a target; and triggering and starting the acquisition of an electroencephalographic signal while controlling the UR5 mechanical arm, performing pre-processing, feature extraction and classifier classification on data, detecting whether an error potential is generated, if an error potential is generated, stopping the current action of the UR5 mechanical arm, otherwise, no interference being carried out. Compared with a traditional electromyographic signal control method, in the present method, electromyographic identification of a natural action is provided, an electromyographic signal and an IMU signal are also fused for data processing and classification identification, and an error correction mechanism during a robot control process is then improved by means of the identification of an error electroencephalographic potential, thereby improving the control efficiency and accuracy of a robot.
ROBOT NATURAL CONTROL METHOD BASED ON ELECTROMYOGRAPHIC SIGNAL AND ERROR ELECTROENCEPHALOGRAPHIC POTENTIAL