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

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 proceeding › Conference contribution

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
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
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

Cite this

@inproceedings{ff62a93753464a2bb14744c27768c303,

title = "Probabilistic workpsace scan modes of a robot manipulator commanded by EEG signals",

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.",

keywords = "Brain computer-interface, Probabilistic scan mode, Robot manipulator",

author = "\{Auat Chee{\'i}n\}, \{Fernando Alfredo\} and \{Di Sciascio\}, Fernando and Ricardo Carelli and Filho, \{Teodiano Freire Bastos\}",

year = "2008",

language = "English",

isbn = "9789898111173",

volume = "2",

pages = "3--8",

booktitle = "Proceedings of the 1st International Conference on Biomedical Electronics and Devices 2008",

publisher = "INSTICC Press ",

note = "1st International Conference on Biomedical Electronics and Devices 2008, BIODEVICES 2008 ; Conference date: 28-01-2008 Through 31-01-2008",

}

Auat Cheeín, FA, Di Sciascio, F, Carelli, R & Filho, TFB 2008, Probabilistic workpsace scan modes of a robot manipulator commanded by EEG signals. in Proceedings of the 1st International Conference on Biomedical Electronics and Devices 2008. vol. 2, INSTICC Press , pp. 3-8, 1st International Conference on Biomedical Electronics and Devices 2008, Funchal, Madeira, Portugal, 28/01/08.

Probabilistic workpsace scan modes of a robot manipulator commanded by EEG signals. / Auat Cheeín, Fernando Alfredo; Di Sciascio, Fernando; Carelli, Ricardo et al.
Proceedings of the 1st International Conference on Biomedical Electronics and Devices 2008. Vol. 2 INSTICC Press , 2008. p. 3-8.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Probabilistic workpsace scan modes of a robot manipulator commanded by EEG signals

AU - Auat Cheeín, Fernando Alfredo

AU - Di Sciascio, Fernando

AU - Carelli, Ricardo

AU - Filho, Teodiano Freire Bastos

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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.

KW - Brain computer-interface

KW - Probabilistic scan mode

KW - Robot manipulator

UR - https://www.scopus.com/pages/publications/55649097757

M3 - Conference contribution

AN - SCOPUS:55649097757

SN - 9789898111173

VL - 2

SP - 3

EP - 8

BT - Proceedings of the 1st International Conference on Biomedical Electronics and Devices 2008

PB - INSTICC Press

T2 - 1st International Conference on Biomedical Electronics and Devices 2008

Y2 - 28 January 2008 through 31 January 2008

ER -

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

Abstract

Conference

Keywords

ASJC Scopus subject areas

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