Probabilistic workpsace scan modes of a robot manipulator commanded by EEG signals

Fernando Alfredo Auat Cheeín, Fernando Di Sciascio, Ricardo Carelli, Teodiano Freire Bastos Filho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, probabilistic-based workspace scan modes of a robot manipulator are presented. The scan modes are governed by a Brain Computer Interface (BCI) based on Event Related Potentials (Synchronization and Desynchronization events). The user is capable to select a specific position at the robot's workspace, which should be reached by the manipulator. The robot workspace is divided into cells. Each cell has a probability value associated to it. Once the robot reaches a cell, its probability value is updated. The mode the scans are made is determined by the probability of all cells at the workspace. The updating process is governed by a recursive Bayes algorithm. A performance comparison between a sequential scan mode and the ones proposed here is presented. Mathematical derivations and experimental results are also shown in this paper.

Original languageEnglish
Title of host publicationProceedings of the 1st International Conference on Biomedical Electronics and Devices 2008
PublisherINSTICC Press
Pages3-8
Number of pages6
Volume2
ISBN (Print)9789898111173
Publication statusPublished - 2008
Event1st International Conference on Biomedical Electronics and Devices 2008 - Funchal, Madeira, Portugal
Duration: 28 Jan 200831 Jan 2008

Conference

Conference1st International Conference on Biomedical Electronics and Devices 2008
Abbreviated titleBIODEVICES 2008
Country/TerritoryPortugal
CityFunchal, Madeira
Period28/01/0831/01/08

Keywords

  • Brain computer-interface
  • Probabilistic scan mode
  • Robot manipulator

ASJC Scopus subject areas

  • Biomedical Engineering
  • Electrical and Electronic Engineering

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