論文

査読有り
2016年

Hybrid Control of a Vision-Guided Robot Arm by EOG, EMG, EEG Biosignals and Head Movement Acquired via a Consumer-Grade Wearable Device

IEEE ACCESS
  • Ludovico Minati
  • ,
  • Natsue Yoshimura
  • ,
  • Yasuharu Koike

4
開始ページ
9528
終了ページ
9541
記述言語
英語
掲載種別
研究論文(学術雑誌)
DOI
10.1109/ACCESS.2017.2647851
出版者・発行元
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Simultaneous acquisition of electrooculogram, jaw electromyogram, electroencephalogram, and head movement via consumer-grade wearable devices has become possible. Such devices offer new opportunities to deploy practical biosignal-based interfaces for assistive robots; however, they also pose challenges related to the available signals and their characteristics. In this proof-of-concept study, we demonstrate the possibility of successful control of a 5 + 1 degrees-of-freedom robot arm based on a consumer wireless headband in the form of four control modes predicated on distinct signal combinations. We propose a control approach hybrid at two levels, which seeks a compromise between robot controllability and maintaining the user goal rather than being process-focused. First, robot arm steering combines discrete and proportional aspects. Second, after the robot has been steered toward the approximate target direction, a sparse approach is followed and the user only needs to issue a single command, after which steering adjustment and grasping are performed automatically under stereoscopic vision guidance. We present in detail the associated algorithms, whose implementation is publicly available. Within this framework, we also demonstrate the control of arm posture and grasping force based, respectively, on object visual features and user input. We regard the interface proposed herein as a viable blueprint for future work on controlling wheelchair-mounted and meal-assisting robot arms.

Web of Science ® 被引用回数 : 37

リンク情報
DOI
https://doi.org/10.1109/ACCESS.2017.2647851
Web of Science
https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000401133000001&DestApp=WOS_CPL
URL
http://www.scopus.com/inward/record.url?eid=2-s2.0-85014955413&partnerID=MN8TOARS
URL
http://orcid.org/0000-0002-2532-1674
ID情報
  • DOI : 10.1109/ACCESS.2017.2647851
  • ISSN : 2169-3536
  • ORCIDのPut Code : 37534877
  • SCOPUS ID : 85014955413
  • Web of Science ID : WOS:000401133000001

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