Mental tasks-based brain-robot interface

Authors:
Eduardo Iáñez;José María Azorín;Andrés íbeda;José Manuel Ferrández;Eduardo Fernández
Affiliations:
Virtual Reality and Robotics Lab, Industrial Systems Engineering Department, Miguel Hernández University of Elche, Spain;Virtual Reality and Robotics Lab, Industrial Systems Engineering Department, Miguel Hernández University of Elche, Spain;Virtual Reality and Robotics Lab, Industrial Systems Engineering Department, Miguel Hernández University of Elche, Spain;Electronics and Computer Technology Department, Polytechnic University of Cartagena, Murcia, Spain;Bioengineering Institute, Miguel Hernández University of Elche, Spain
Venue:
Robotics and Autonomous Systems
Year:
2010

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Abstract

This paper describes a Brain Computer Interface (BCI) based on electroencephalography (EEG) that allows control of a robot arm. This interface will enable people with severe disabilities to control a robot arm to assist them in a variety of tasks in their daily lives. The BCI system developed differentiates three cognitive processes, related to motor imagination, registering the brain rhythmic activity through 16 electrodes placed on the scalp. The features extraction algorithm is based on the Wavelet Transform (WT). A Linear Discriminant Analysis (LDA) based classifier has been developed in order to differentiate between the three mental tasks. The classifier combines through a score-based system four LDA-based models simultaneously. The experimental results with six volunteers performing several trajectories with a robot arm are shown in this paper.