Control of a 2-DoF robotic arm using a P300-based brain-computer interface

نویسندگان

چکیده مقاله:

In this study, a novel control algorithm, based on a P300-based brain-computer interface (BCI) is fully developed to control a 2-DoF robotic arm. Eight subjects including 5 men and 3 women perform a 2-dimensional target tracking in a simulated environment. Their EEG (Electroencephalography) signals from visual cortex are recorded and P300 components are extracted and evaluated to perform a real-time BCI-based controller. The volunteer’s intention is recognized and will be decoded as an appropriate command to control the cursor. The final processed BCI output is used to control a simulated robotic arm in a 2-dimensional space. The control algorithm is inverse dynamics control which is based on the exact linearization of all nonlinear dynamics of the system. The results show that the system allows the robot's end-effector to move between arbitrary positions in a point-to-point session with the desired accuracy. Furthermore, it should be noted that the proposed approach is suitable for BCI control applications. This model is tested and compared on the Dataset II of the BCI competition. The best result is obtained with a multi-classifier solution with a recognition rate of 97 percent, without channel selection before the classification. In this project, the EEG device used to record data is Starstim.

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

A Brain-Computer Interface for robotic arm control

Brain-Computer Interfaces (BCI) are tools that open a new channel of communication between humans and machines. The majority of human input devices for computers require proper functioning of our primary sensors and motor functions like grasping, moving and visual perception. In the case of severe motor disabilities, like amyotrophic lateral sclerosis (ALS) or spinal chord injury (SCI), these p...

متن کامل

Asynchronous Real-time Control of a Robotic Arm Using a Brain-computer Interface

A Brain-Computer Interface (BCI) allows for individuals to send commands and messages using an atypical form of communication: brain activity. Currently these devices are used by disabled individuals with afflictions of the motor-neuron system, e.g., amyotrophic lateral sclerosis. Ultimately such systems could prove beneficial to everyone by providing an additional channel of communication and ...

متن کامل

[A P300-based brain-computer interface].

The goal of this work was to describe a system for real-time typing controlled by brain biopotential signals. A 6 ( 6 matrix containing Russian alphabet letters and auxiliary symbols was shown on PC screen. Electroencephalogram was taken, and the P300 component was extracted (this component appeared only upon presentation of a significant stimulus). A combination of several detection methods wa...

متن کامل

A 9-DoF Wheelchair-Mounted Robotic Arm System: Design, Control, Brain-Computer Interfacing, and Testing

A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of...

متن کامل

A Robotic Rehabilitation Arm Driven by Somatosensory Brain-Computer Interface

It was expected to benefit patient with hemiparesis after stroke by extensive arm rehabilitation, to partially regain forearm and hand function. This paper propose a robotic rehabilitation arm in assisting the hemiparetic patient to learn new ways of using and moving their weak arms. In this study, the robotic arm was driven by a somatosensory stimulated brain computer interface (BCI), which is...

متن کامل

A Tactile P300 Brain-Computer Interface

In this study, we investigated a Brain-Computer Interface (BCI) based on EEG responses to vibro-tactile stimuli around the waist. P300 BCIs based on tactile stimuli have the advantage of not taxing the visual or auditory system and of being potentially unnoticeable to other people. A tactile BCI could be especially suitable for patients whose vision or eye movements are impaired. In Experiment ...

متن کامل

منابع من

با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ذخیره در منابع من قبلا به منابع من ذحیره شده

{@ msg_add @}


عنوان ژورنال

دوره 51  شماره 2

صفحات  8- 8

تاریخ انتشار 2019-12-01

با دنبال کردن یک ژورنال هنگامی که شماره جدید این ژورنال منتشر می شود به شما از طریق ایمیل اطلاع داده می شود.

میزبانی شده توسط پلتفرم ابری doprax.com

copyright © 2015-2023