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 language | English |
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Title of host publication | Proceedings of the 1st International Conference on Biomedical Electronics and Devices 2008 |
Publisher | INSTICC Press |
Pages | 3-8 |
Number of pages | 6 |
Volume | 2 |
ISBN (Print) | 9789898111173 |
Publication status | Published - 2008 |
Event | 1st International Conference on Biomedical Electronics and Devices 2008 - Funchal, Madeira, Portugal Duration: 28 Jan 2008 → 31 Jan 2008 |
Conference
Conference | 1st International Conference on Biomedical Electronics and Devices 2008 |
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Abbreviated title | BIODEVICES 2008 |
Country/Territory | Portugal |
City | Funchal, Madeira |
Period | 28/01/08 → 31/01/08 |
Keywords
- Brain computer-interface
- Probabilistic scan mode
- Robot manipulator
ASJC Scopus subject areas
- Biomedical Engineering
- Electrical and Electronic Engineering