Design and Optimization of a BCI-Driven Telepresence Robot Through Programming by Demonstration
Loading...
Date
2019-08-05
Authors
Abibullaev, Berdakh
Zollanvari, Amin
Saduanov, Batyrkhan
Alizadeh, Tohid
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers
Abstract
Improving the life quality of people with severe motor paralysis has a significant impact on restoring their functional independence to perform activities of daily living (ADL). Telepresence is a subfield of the robotic-assisted route, where human plays the role of an operator, sending high-level instructions to an as sistive robot while receiving sensory feedback. However, for severely motor-impaired people, conventional interaction modalities may not be suitable due to their complete paralysis. Thus, designing alternative ways of interaction such as Brain-Computer Interfaces (BCI) is essential for a telepresence capability. We propose a novel framework that integrates a BCI system and a humanoid robot to develop a brain-controlled telepresence system with multimodal control features. In particular, the low-level control is executed by Programming by Demonstration (PbD) models, and the higher-level cognitive commands are produced by a BCI system to perform vital ADLs. The presented system is based on real-time decoding of attention-modulated neural responses elicited in the brain electroencephalographic signals and generating multiple control commands. As a result, the system allows a user to interact with a humanoid robot while receiving auditory and visual feedback from the robot's sensors. We validated our system across ten subjects in a realistic scenario. The experimental results show the feasibility of the approach in the design of a telepresence robot with high BCI decoding performances.
Description
https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8788527
Keywords
telepresence, programming by demonstration, EEG, event-related potentials, humanoid robots, Brain-Computer interfaces
Citation
Abibullaev, B., Zollanvari, A., Saduanov, B., & Alizadeh, T. (2019). Design and Optimization of a BCI-Driven Telepresence Robot Through Programming by Demonstration. IEEE Access, 7, 111625–111636. https://doi.org/10.1109/access.2019.2933268