Design of Omnidirectional Robot Using Hybrid Brain Computer Interface

Abstract

The paper presents a Brain-Computer Interface (BCI) controller for a semiautonomous three-wheeled omnidirectional robot capable of processing real-time commands. The kinematical model of the omni-directional robot and the software architecture of the overall hybrid system with motion control algorithm are presented. The system design, acquisition of the electroencephalography (EEG) signal, recognition processing technology and implementation are the main focus. Signals are recorded and processed by a program called OpenVibe. Preprocessed signals are cleaned by EEGLAB and used to train OpenVibe classifiers to accurately identify the expected signals produced by the users. Once identified, the controller converts the signal into input commands {forward, left, right, rotate, stop}, which are written in the Python syntax and delivered to the robot system. The robot has three degrees of freedom (DoF) allowing it to traverse its environment in any direction and orientation. The sensor system provides feedback allowing for the semi-autonomous control to avoid obstacles. Overall, this paper demonstrates the architecture of the hybrid control system for omni-directional robot using BCI. The developed system integrates the EEG signal to control the motion of the robot and the experimental results show the system performance and effectiveness of possessing the user’s EEG signals.

Cross-Platform Implementation of an SSVEP-Based BCI for the Control of a 6-DOF Robotic Arm

“…Openvibe has been used for multiple applications and with different types of paradigms such as motor imagination to control a robotic arm or a robotic hand [30,31], motor imagination in neural plasticity with a wrist exoskeleton [32], with the P300 paradigm for the control of an electric chair [23], P300 for the control of a manipulator robot [35], surface electromyographic signals for the control of a functional electrical stimulator (FES) [82], neurorehabilitation [28,33,83], music [84], mobile robots [85] or processing with motor imagination or P300 [86][87][88][89] with different amplifiers [90].…”