Non-invasive brain-actuated control of a mobile robot

Authors:
Jose Del R. Millan;Frederic Renkens;Josep Mourino;Wulfram Gerstner
Affiliations:
Dalle Molle Institute for Perceptual Artificial Intelligence, Martigny, Switzerland and Laboratory of Computational Neuroscience, Swiss Federal Institute of Technology, Lausanne EPFL, Switzerland;Laboratory of Computational Neuroscience, Swiss Federal Institute of Technology, Lausanne EPFL, Switzerland;Centre de Recerca en Enginyeria Biomedica, Universitat Politecnica de Catalunya, Barcelona, Spain;Laboratory of Computational Neuroscience, Swiss Federal Institute of Technology, Lausanne EPFL, Switzerland
Venue:
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Year:
2003

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Abstract

Recent experiments have indicated the possibility to use the brain electrical activity to directly control the movement of robotics or prosthetic devices. In this paper we report results with a portable non-invasive brain-computer interface that makes possible the continuous control of a mobile robot in a house-like environment. The interface uses 8 surface electrodes to measure electroencephalogram (EEG) signals from which a statistical classifier recognizes 3 different mental states. Until now, brain-actuated control of robots has relied on invasive approaches-requiring surgical implantation of electrodes-since EEG-based systems have been considered too slow for controlling rapid and complex sequences of movements. Here we show that, after a few days of training, two human subjects successfully moved a robot between several rooms by mental control only. Furthermore, mental control was only marginally worse than manual control on the same task.