TY - GEN
T1 - Towards a probabilistic manipulator robot's workspace governed by a BCI
AU - Auat Cheeín, Fernando A.
AU - Di Sciascio, Fernando
AU - Bastos Filho, Teodiano Freire
AU - Carelli, Ricardo
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 - http://www.scopus.com/inward/record.url?scp=78049401413&partnerID=8YFLogxK
U2 - 10.1007/978-3-540-92219-3_5
DO - 10.1007/978-3-540-92219-3_5
M3 - Conference contribution
AN - SCOPUS:78049401413
SN - 9783540922186
T3 - Communications in Computer and Information Science
SP - 73
EP - 84
BT - Biomedical Engineering Systems and Technologies. BIOSTEC 2008
PB - Springer
T2 - 1st International Joint Conference on Biomedical Engineering Systems and Technologies 2008
Y2 - 28 January 2008 through 31 January 2008
ER -