Controlling a Wheelchair Indoors Using Thought
IEEE Intelligent Systems
Toward Brain-Computer Interfacing (Neural Information Processing)
Toward Brain-Computer Interfacing (Neural Information Processing)
Modeling dynamic scenarios for local sensor-based motion planning
Autonomous Robots
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Free virtual navigation using motor imagery through an asynchronous brain--computer interface
Presence: Teleoperators and Virtual Environments
Design of internet-based teleoperation platform with brain-computer interface
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Proceedings of the 19th international conference on Intelligent User Interfaces
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This paper describes an EEG-based human brain-actuated robotic system, which allows performing navigation and visual exploration tasks between remote places via internet, using only brain activity. In operation, two teleoperation modes can be combined: robot navigation and camera exploration. In both modes, the user faces a real-time video captured by the robot camera merged with augmented reality items. In this representation, the user concentrates on a target area to navigate to or visually explore; then, a visual stimulation process elicits the neurological phenomenon that enables the brain-computer system to decode the intentions of the user. In the navigation mode, the target destination is transferred to the autonomous navigation system, which drives the robot to the desired place while avoiding collisions with the obstacles detected by the laser scanner. In the camera mode, the camera is aligned with the target area to perform an active visual exploration of the remote scenario. In June 2008, within the framework of the experimental methodology, five healthy subjects performed pre-established navigation and visual exploration tasks for one week between two cities separated by 260km. On the basis of the results, a technical evaluation of the device and its main functionalities is reported. The overall result is that all the subjects were able to successfully solve all the tasks reporting no failures, showing a high robustness of the system.