BCI-Controlled Assistive Manipulator: Developed Architecture and Experimental Results

Lillo, Paolo Di; Arrichiello, Filippo; Vito, Daniele Di; Antonelli, Gianluca

doi:10.1109/tcds.2020.2979375

Cited by 21 publications

(14 citation statements)

References 38 publications

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“…( 4) directly to integrate Eq. (1) In the remainder of the paper, we apply these simplifications to our use case of teleoperating robotic manipulators with motion skills.…”

Section: B Assumptions and Simplificationsmentioning

confidence: 99%

“…Despite the complexity of tasks of daily livingwhich often require two hands to accomplish -there are tasks that users can accomplish on their own with one robotic arm, such as organizing things on their desk, or scratching an itchy spot on the knee. Research shows promising hybrids between direct control and assistive autonomy for safe drinking [1], object manipulation [2], [3], and grasping [4], for instance. This autonomy, however, usually comes at the expense of additional sensor and hardware setups, e.g.…”

Section: Introductionmentioning

confidence: 99%

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A practical DMPs Implementation for Skill Creation and Teleoperation with Assistive Manipulators

Scherzinger¹,

Becker²,

Roennau³

et al. 2022

Preprint

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Assistive robotic manipulators are becoming increasingly important for people with disabilities. Teleoperating the manipulator in mundane tasks is part of their daily lives. Instead of steering the robot through all actions, applying self-recorded motion skills could greatly facilitate repetitive tasks. Dynamic Movement Primitives (DMP) are a powerful method for skill learning. For this use case, however, they need a simple heuristic to specify where to start and stop a skill without additional sensors. This paper provides the concept of local, global, and hybrid skills that form a modular basis for composing single-handed tasks with ease. A focus is on presenting the necessary mathematical details to support custom implementations with assistive robot arms. Experiments validate the developed methods for scratching an itchy spot, sorting objects on a desk, and feeding a piggy bank with coins. The paper is accompanied by an open-source implementation at https://github.com/fzi-forschungszentrum-informatik/ArNe This research has been funded by the Federal Ministry of Education and Research of Germany (BMBF) within the project ArNe in the framework of Robotic Systems in Health Care (project number 16SV8412)

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“…( 4) directly to integrate Eq. (1) In the remainder of the paper, we apply these simplifications to our use case of teleoperating robotic manipulators with motion skills.…”

Section: B Assumptions and Simplificationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A practical DMPs Implementation for Skill Creation and Teleoperation with Assistive Manipulators

Scherzinger¹,

Becker²,

Roennau³

et al. 2022

Preprint

View full text Add to dashboard Cite

show abstract

“…The points belonging to the mouth are extracted and then a mean for the 3D coordinates of the center of the mouth is computed. For more details regarding the perception module, we refer to our previous work (Di Lillo et al, 2020a).…”

Section: Perception Modulementioning

confidence: 99%

“…To let the robot be able to correctly navigate in a dynamical environment, a localization system is needed as in Sudin et al (2019). The proposed architecture extends the one presented in Di Lillo et al (2020a). Differently from this previous work, where we used a fixed-base manipulator, here we use a mobile omni-directional platform equipped with two 7 degrees of freedom (DOFs) lightweight manipulators to perform dual-arm tasks, designing specific control strategies to handle the whole-body motion.…”

Section: Introductionmentioning

confidence: 99%

A dual-arm mobile robot system performing assistive tasks operated via P300-based brain computer interface

Gillini

Lillo

Arrichiello

et al. 2020

Self Cite

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Purpose In the past decade, more than 700 million people are affected by some kind of disability or handicap. In this context, the research interest in assistive robotics is growing up. For people with mobility impairments, daily life operations, as dressing or feeding, require the assistance of dedicated people; thus, the use of devices providing independent mobility can have a large impact on improving their life quality. The purpose of this paper is to present the development of a robotic system aimed at assisting people with this kind of severe motion disabilities by providing a certain level of autonomy. Design/methodology/approach The system is based on a hierarchical architecture where, at the top level, the user generates simple and high-level commands by resorting to a graphical user interface operated via a P300-based brain computer interface. These commands are ultimately converted into joint and Cartesian space tasks for the robotic system that are then handled by the robot motion control algorithm resorting to a set-based task priority inverse kinematic strategy. The overall architecture is realized by integrating control and perception software modules developed in the robots and systems environment with the BCI2000 framework, used to operate the brain–computer interfaces (BCI) device. Findings The effectiveness of the proposed architecture is validated through experiments where a user generates commands, via an Emotiv Epoc+ BCI, to perform assistive tasks that are executed by a Kinova MOVO robot, i.e. an omnidirectional mobile robotic platform equipped with two lightweight seven degrees of freedoms manipulators. Originality/value The P300 paradigm has been successfully integrated with a control architecture that allows us to command a complex robotic system to perform daily life operations. The user defines high-level commands via the BCI, letting all the low-level tasks, for example, safety-related tasks, to be handled by the system in a completely autonomous manner.

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“…Different from tactile interfaces, the contactless teleoperation needs to process the complex information from the sensors with the comprehensive analysis. With the process of vocal or optical signals, the manipulators could be tele-controlled not only for the simple motion in the Cartesian space [17][18], but also for the specific motion [19][20]. The complicated processing of the voice and pictures empowered the manipulator with much more intelligence and helped the robot interact with people naturally.…”

Section: Introductionmentioning

confidence: 99%

A Novel 6-DOF Force-Sensed Human-Robot Interface for an Intuitive Bilateral Teleoperation

Liu

Xie

et al. 2022

Preprint

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The teleoperation of a 6 degrees-of-freedom (DOF) manipulator is one of the basic methods to extend people’s capabilities in the wide variety of applications. The master interface based on the force/torque (FT) sensor could provide the full-dimension intuitive bilateral teleoperation of a 6-DOF robot since it has the ability to trigger 6-DOF command input. However, due to the force coupling, noise disturbance and unlimited input values of the FT sensor, this forces-sensed interface could not be widely used in practice. In this paper, we present an intuitive teleoperation method based on the force-sensed sensor from mechanical design and input force signal process to overcome these challenges. In this method, the input signals from the force-sensed joystick were filtered and then processed to the force commands by force limit algorithm, with the merits of anti-interference, output limitation, and online velocity adjustment. Furthermore, based on the admittance control and position controller, the manipulator could be teleoperated by the force commands. Three experiments were conducted on our self-designed robotic system. The result of the first experiment shows that the interfered force from the force coupling could be effectively suppressed with the limitation of the input force through force limit algorithm. Then, a parameter was introduced in the other two experiments to adjust the velocity online practically with force limit algorithm. The proposed method could give a practical solution to the bilateral teleoperation based on the FT sensor.

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BCI-Controlled Assistive Manipulator: Developed Architecture and Experimental Results

Cited by 21 publications

References 38 publications

A practical DMPs Implementation for Skill Creation and Teleoperation with Assistive Manipulators

A practical DMPs Implementation for Skill Creation and Teleoperation with Assistive Manipulators

A dual-arm mobile robot system performing assistive tasks operated via P300-based brain computer interface

A Novel 6-DOF Force-Sensed Human-Robot Interface for an Intuitive Bilateral Teleoperation

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