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脑力负荷是影响机械臂遥操作绩效的重要因素,通过提取机械臂遥操作过程的自发脑电功率谱特征以及非线性动力学特征,结合机械臂遥操作的三阶段操作理论,分析了操作过程脑力负荷变化规律,以及各阶段的主要认知负荷来源。实验表明:自发脑电功率谱指标能有效评估遥操作过程被试的脑力负荷水平,非线性指标能有效评估思维活动水平。在遥操作中,脑电功率谱能量逐渐向高频段转移,脑力负荷水平逐渐升高;前两阶段的非线性动力学特征值显著高于最后阶段,在第二阶段达到最大,与被试的思维活动强度变化规律相同。前两阶段被试脑力负荷主要来源于空间认知,第三阶段负荷主要来源于距离和角度偏差认知及任务压力。根据遥操作任务过程的脑力负荷变化规律及负荷的主要来源针对性提供信息补偿,完善任务设计,可降低航天员在各个阶段的脑力负荷水平,对保障遥操作任务的完成有一定指导意义。
The mental workload is an important factor that affects the teleoperation performance of the manipulator. By extracting the characteristics of the spontaneous EEG power spectrum and the nonlinear dynamics during teleoperation of the manipulator, combined with the three-stage manipulative theory of teleoperation of the manipulator, the mental workload The law of change, and the main sources of cognitive load in each stage. Experiments show that: spontaneous EEG power spectrum index can effectively evaluate the mental workload of participants during teleoperation, non-linear indicators can effectively assess the level of thinking activity. In teleoperation, the energy of EEG gradually shifted to high frequency, and the level of mental load gradually increased. The nonlinear dynamic characteristics of the first two stages were significantly higher than the last stage and reached the maximum in the second stage, Activity intensity changes the same. The first two stages of subjects mental load mainly from the spatial cognition, the third stage load mainly from distance and angle deviation cognition and task pressure. According to the change rule of mental workload during the teleoperation task and the main source of the load, information compensation and perfecting task design can reduce the mental workload of astronauts at all stages, which is of guiding significance for the completion of the teleoperation task.