Teleoperation of an Industrial Manipulator Through a TCP/IP Channel Using EEG Signals

Abstract

This paper presents an industrial manipulator teleoperated via TCP/IP using a Brain Computer Interface (BCI). Through a BCI based on Event Related Potentials (ERD and ERS), the operator is capable to select a position on the manipulator's workspace, that should be reached by the manipulator. A pose controller is executed on a remote PC and when new references are received, the controller calculates the necessary control actions so that the manipulator reaches the desired position. A bio-feedback link is closed through the operator watching to a visual interface, allowing him/her to visualize the manipulator's workspace and the movements being executed. Besides the application of the BCI, the paper also shows how versatile it is, stressing features like its easy integration with robotic devices, its low cost and the short training time it requires.

Robot Manipulator Probabilistic Workspace Applied to Robotic Assistance

“…Though (2) is mainly used in very simple applications (Auat Cheein et al, 2008;Ferreira et al, 2006c) it fits as an updating rule for the purpose of this work. The rest of the cells at the robot's workspace are also updated using (2), but with ) | ( , G c p j i t -the probability of c i,j not been selected with respect to the zone-instead of…”

“…Therefore, the robot manipulator was considered as the final actuator of the assistive system where its main goal was to imitate the movements of an arm. Depending on the user/patient capabilities, the robot manipulator was commanded by either electromyographic or electro-encephalic signals (Ferreira et al, 2006a;2006b;. A robotic device controlled by a Muscle-Computer Interface (MCI) can be found in (Artemiadis & Kyriakopoulos, 2006;Lopez et al, 2007;Millan et al, 2004;Ferreira et al, 2006b;Lopez et al, 2009;Ferreira et al, 2008).…”

The architecture and key technologies of a BMI based telerobot system over Internet

“…Based on the above BMI research results, we introduce the BCI technology framework [15] to the network teleoperation system framework [16,17]. This technology can directly send control commands over Internet to the robot at the slave side to complete the desired tasks by the operator's thoughts, which can meet the needs of specific research and application.…”

Probabilistic Workpsace Scan Modes of a Robot Manipulator Commanded by Eeg Signals

“…As a brief introduction, the sequential scan mode of the robot workspace developed in Ferreira et al (2006) is presented here.…”

“…In this paper a BCI, which is controlled through alpha waves from the human brain, is used. Although the EEG signal acquisition/conditioning, which is part of this BCI, was developed in other work of the authors (Ferreira et al, 2006), one of the objectives of this paper is to illustrate its versatility, mainly in terms of the simple algorithms used.…”